This paper is to present a new mechanical impedance detection technique utilizing the sensing capability of piezoceramic inertial actuators. The actuator affixed to a structure under test is used as a collocated actuator/sensor for mechanical impedance detection. The actuator generates a reaction force to excite the structure by accelerating a proof mass without the need of a grounded support. Simultaneously, the electrical input impedance of piezoceramic inertial actuators is sensorlessly detected. A four-pole model of the actuator governing the electromechanical interaction is derived and used to calculate the mechanical impedance of the structure under test from the measured electrical input impedance of the actuator. Because of elimination of sensors and compactness of piezoceramic inertial actuators, this technique provides a neat and convenient way for mechanical impedance detection of structures on site.