This article reports the development of a novel embedded waveguide ultrasonic sensor for detecting the onset of damage in reinforced concrete structures. A sleeved waveguide is proposed to confine guided ultrasonic waves in one-dimension, with leakage to the surrounding media only through specially created openings, thus reducing attenuation losses and enhancing the capability to inspect large structures from a single transducer location. The test frequency and mode are identified through modelling, and the interaction of leaky guided ultrasonic waves with delamination within the concrete volume is studied. Numerical simulations validated by experiments are used to study the changes in wave features such as mode velocity, wavelength and wave reflection in the delamination region, helping to estimate its location. Further simulation studies are carried out to demonstrate the possibility of using multiple waveguide sensors and sleeve openings to provide a full view of the concrete volume. The results are encouraging for practical long-range and large-scale monitoring of concrete volumes using the proposed sleeved waveguide ultrasonic sensors.