Solitons are self-preserving traveling waves of great interest in nonlinear physics but hard to observe experimentally. In this report an experimental setup is designed to observe and characterize acoustic solitons in a GaAs(001) substrate. It is based on careful temperature control of the sample and an interferometric detection scheme. Ultrashort acoustic solitons, such as the one predicted by the Korteweg-de Vries equation, are observed and fully characterized. Their particlelike nature is clearly evidenced and their unique properties are thoroughly checked. The spatial averaging of the soliton wave front is shown to account for the differences between the theoretical and experimental soliton profile. It appears that ultrafast acoustic experiments provide a precise measurement of the soliton velocity. It allows for absolute calibration of the setup as well as the response function analysis of the detection layer. Moreover, the temporal distribution of the solitons is also analyzed with the help of the inverse scattering method. It shows how the initial acoustic pulse profile which gives birth to solitons after nonlinear propagation can be retrieved. Such investigations provide a new tool to probe transient properties of highly excited matter through the study of the emitted acoustic pulse after laser excitation.