This paper proposes a new approach to damage detection of nano-SiO2 concrete-filled glass fiber reinforced polymer (GFRP) tube column using piezoceramic transducers. Stress waves are emitted and received by a pair of piezoceramic transducers embedded in the concrete-filled GFRP tube, and the energy and damage indices at different levels of loading in the tube are obtained by wavelet packet to evaluate the damage degree of GFRP tube nano-SiO2 concrete column. Through the experimental studies, the effects of different nano-SiO2 contents, concrete grades, and superplasticizer on the damage were analyzed to gain load–displacement curves, load–energy index curves, and load–damage index curves. The results show that the wave method can be adopted to monitor the damage of GFRP tube nano-SiO2 concrete column. The specimens with 3% nano-SiO2 content have the smallest energy change rate, indicating that adding 3% nano-SiO2 content into concrete can effectively delay the development of damage. After the addition of superplasticizer, with the increase in the strength grade of concrete, the cracks in the specimen tend to develop slowly, and therefore the specimens have a stronger resistance to damage. The damage of the specimens with the nano-SiO2 content of 1% appeared the latest, while the damage without the nano-SiO2 specimen appeared the fastest. The experimental results show that this method can better monitor the damage of the Nano-SiO2 concrete in the glass fiber reinforced polymer (GFRP) tube.