The inspection of corrosion under insulation (CUI) has been identified as a significant challenge in the petroleum and chemical process industries. As some of the most effective strategies, pulsed eddy current (PEC) techniques have proved effective for the measurement of the CUI of pipelines. In this paper, we propose a circular-arc array (CAA) to improve the measurement efficiency for the PEC inspection of thermally insulated pipelines. Based on the PEC system model for inspecting the CUI of pipelines, the magnetic field distribution of the CAA with multiple excitors was investigated. It is shown that the coverage of induced magnetic field gets much larger than that of the single excitor to realize high-efficiency measurements. Moreover, a sparsely distributed receiver array is designed to further improve the signal-to-noise ratio by eliminating the waviness effect due to multiple excitors. Finally, experiments were conducted, and the results demonstrated the effectiveness of the proposed method for the inspection of thermally insulated pipelines.