Laser beam for welding has small spot size and high energy density. Laser beam welding process has some advantage such as high production speed, good weld quality, and low heat distortion. On the contrary, laser beam welding causes some problem from its inherent characteristics. The laser beam should be arranged exactly at weld line and focal length should be controlled at limited range. Small stray of welding conditions causes severe problems of welding quality. Even if the welding conditions are optimum range, unwanted results cause from the distortion of welding heat input. Therefore, on-line welding quality monitoring is needed for laser welding in automobile and other industry.This study investigated the feasibility of penetration depth measurement using infrared temperature sensing from the weld surface. The profile of the weld surface temperature was measured using photo detector array. Thermal radiation from the weld surface was focused to photodiode array via optical lens. Infrared temperature measurement system was calibrated using electrical resistance heating of steel sheet. Test results indicated that output signal of the photodiode increased exponentially with the increase of temperature of the sample. Surface temperature behind the weld pool was matched with penetration depth and bead width. From the results, the monitoring device of surface temperature using infrared detector array was applicable for real time penetration depth control.