Tunnels are an essential component of modern transportation infrastructure, and their structural health is critical to traffic safety, which can be seriously affected by tunnel lining cavities. In this paper, an acoustic-based detection approach for assessing the integrity of tunnel linings is studied. By tapping the tunnel lining surface, acoustic signals are sampled and analyzed using a novel feature parameter extraction algorithm—the energy-frequency cepstral coefficient, which uses wavelet packet decomposition to obtain energy distribution statistics in the frequency domain of the signal, and constructs a signal-dependent filter bank to achieve the cepstral coefficient extraction. Compared with the traditional Mel filter bank, this method can adaptively adjust the resolution of the filter bank according to the frequency characteristics of the classified samples. This allows for higher frequency resolution in regions where the energy distribution is concentrated. As a result, the extracted feature parameters achieve both dimensional compression and superior information retention. Experimental results show that the proposed energy-frequency cepstral coefficient feature outperforms the traditional Mel-frequency cepstral coefficient feature, resulting in a higher accuracy of tunnel lining detection. The convolutional neural network model achieves an accuracy of 99.2%, with a 78.9% reduction in error rate compared with the traditional Mel-frequency cepstral coefficient feature parameters. Additionally, a particle swarm optimization support vector machine model is trained to achieve an accuracy rate of 99.6% and an error rate reduction of 76.5%.