While titanium components manufactured by additive manufacturing have been widely used in direct molding of complex components, their performance is strongly affected by existing internal flaws generated in the unique manufacturing process. Thus, how to efficiently and accurately characterize geometrical characteristics of internal flaws is critical for enhancing applications of additive manufactured titanium components. In the present work, an effective non-destructive method by using phased array ultrasonic testing is proposed to characterize sub-millimeter artificial deep bottom holes in additive manufactured TC18 titanium block. Specifically, a phased array ultrasonic testing platform integrated with total focusing method-based post-processing algorithm is established. Flat bottom holes with a diameter of 0.8 mm and a depth of 5.0 mm in 55 mm-sized cube titanium block are detected using both linear and annular array transducers. Experimental results show that preexisting holes can be characterized by both linear and annular transducers, in despite of accompanied high acoustic attenuation. Furthermore, the annular phased array ultrasonic testing has higher detection accuracy and resolution than the linear phased array one, for its stronger capability of sound field focusing. More importantly, the annular phased array ultrasonic testing shows similar high testing accuracy in different relative orientations between forming orientation of the titanium component and sound wave propagation direction. These findings provide an effective strategy for the non-destructive ultrasonic testing of titanium components by additive manufacturing.