Guided ultrasonic wave is a new non-destructive test technology and it can be used to test and evaluate inaccessible pipes for other traditional non-destructive test methods because of its longer inspection distance,rapid inspection and low cost.Thus,it is widely used for the detection for the underground pipes,and the pipes with fixtures and sleeves.This paper introduces the inspection principle of guided ultrasonic wave,and investigates its propagation and attenuation characteristics,and analyzes the factors which may affect inspection correction when using guided ultrasonic wave for pipe inspection,and uses the guided ultrasonic waves of longitudinal and torsional modes to test a 24 meters long steel pipe with complex features and several artificial defects.