The ultrasonic pulse velocity (UPV) test has been a widely used non-destructive testing method for concrete structures. However, the conventional UPV test has limitations in consistency of results and applicability in hard-to-access regions of structures. The authors explore the feasibility of embedded piezoelectric (PZT) sensors for ultrasonic measurements in concrete structures. Two PZT sensors were embedded in a reinforced concrete specimen. One sensor worked as an actuator driven by an ultrasonic pulse-receiver, and another sensor worked as a receiver. A series of ultrasonic tests were conducted to investigate the performance of the embedded sensors in crack-free concrete and concrete specimens having a surface-breaking crack under various external loadings. Signals measured by the embedded sensors show a broad bandwidth with a centre frequency around 80 kHz, and very good coherence in the frequency range from 30 to 180 kHz. Furthermore, experimental variability in ultrasonic pulse velocity and attenuation is substantially reduced compared to previously reported values from conventional UPV equipment. Findings from this study demonstrate that the embedded sensors have great potential as a low-cost solution for ultrasonic transducers for health monitoring of concrete in structures.