Concrete beams are elements used in many civil structures; unfortunately, they can contain cracks that lead to the collapse of the structures if those defects are not detected early enough. In this article, a new method to determine the structural condition of concrete beams subjected to bending is proposed. In general, it is based on the processing of the acoustic emissions (AE) signals, which are generated during the application of a load, by using the mathematical tool called wavelet transform (WT). The sound of the internal energy/crack is recorded as a hit or AE signal event; then, those signals acquired as waveforms are post-processed with the continuous WT (CWT); then, the wavelet energy (WE) is calculated for each hit by using an adequate scale range and the most convenient mother wavelet. Thus, with this method, it is possible to determine the structural condition (healthy or damaged) of concrete beams subjected to bending just by calculating the WE of any hit at any time and, even more, it is possible to define more precisely the stage of the structural condition as a healthy condition, micro-cracks appearance, the manifestation of a principal crack (hit with the highest WE), propagation of the principal crack, and final rupture. This method is experimentally validated in the laboratory, and additionally, ultrasonic pulse velocity tests (UPVT) are performed for some specimens to confirm the change between healthy and damaged conditions. The results are promising in order to apply this effective method in concrete beams of real-life structures.