Helmholtz resonators are widely used to reduce noise in a fluid-filled pipe system. It is a challenge to obtain lowfrequency and broadband attenuation with a small sized cavity. In this paper, the propagation of acoustic waves in a fluid-filled pipe system with periodic elastic Helmholtz resonators is studied theoretically. The resonance frequency and sound transmission loss of one unit are analyzed to validate the correctness of simplified acoustic impedance. The band structure of infinite periodic cells and sound transmission loss of finite periodic cells are calculated by the transfer matrix method and finite element software. The effects of several parameters on band gap and sound transmission loss are probed. Further, the negative bulk modulus of periodic cells with elastic Helmholtz resonators is analyzed. Numerical results show that the acoustic propagation properties in the periodic pipe, such as low frequency, broadband sound transmission, can be improved.