Tectonically deformed coal (TDC) is closely related to gas outbursts. Since TDC exploration is an essential objective for coalfield exploration, it is of great significance to study the petrophysical properties of TDCs and explore their differences. This study collected 17 TDCs and undeformed coal samples from the Huaibei coalfield and ultrasonically tested their petrophysical parameters, including densities, P- and S-wave velocities, and their derived petrophysical parameters (VP/VS ratio, P- and S-wave impedances). Undeformed coal and TDCs with different deformation types (brittle, shear, and plastic deformations) show significant differences in their petrophysical parameters, and cross-plot analysis can directly differentiate them. As with traditional geological methods, acoustically measured petrophysical parameters are good indicators to determine the type of coal deformation. However, the TDCs with the same deformation type have similar petrophysical parameters; it is not easy to distinguish them directly. Instead, the proposed method incorporating principal component analysis and clustering can accurately distinguish up to five classes of TDCs. Different types of tectonic deformation environments and their intensities are highly correlated with the clustering results. This paper also provides essential petrophysical parameters for undeformed coal and TDCs in the Huaibei coalfield, and these parameters can help interpret undeformed coal and TDCs using wireline logs and seismic data.