Detecting the presence or absence of a known signal is an important aspect of underwater acoustic (UWA) communications as it is a vital first step to process the received data. The influence of impulsive noise and multipath propagation on detection are both considered in this paper. Many robust detectors have been designed to cope with impulsive noise, but they tend to ignore the impact of multipath propagation, which may decrease the detection probability. To emphasize the role of multipath channel, we propose two-stage detection methods. In the first stage, the channel is estimated based on robust orthogonal matching pursuit, while in the second stage, detectors that use the channel estimation from the first stage, namely augmented log-likelihood ratio detector and augmented pseudo-correlation detector, are developed. The former detector is parametric and the latter one is non-parametric. The improved performance is demonstrated in simulated multipath channel and actual UWA channel with both simulated noise and recorded snapping shrimp noise, indicating that the proposed detectors are resistant to impulsive noise. It is also shown that the use of multipath information helps to improve the detection performance.