In order to effectively estimate the depth of the source in the acoustic pressure field, this study investigated the relationship between the distribution of acoustic pressure fields in different adjacent mode groups and the depth of the source in shallow waveguides and proposed a method to estimate the depth of the source on the basis of the adjacent mode group acoustic pressure field. We first derived and calculated the adjacent mode group acoustic pressure field of a typical shallow waveguide, then verified the accuracy of this derivation process through simulations. In addition, combined with singular value decomposition mode extraction, the adjacent mode group acoustic pressure field of the SACLANT experimental data was obtained and used as a comparative parameter for the method presented in this paper. By using the depth of the source as the estimation variable, a simulated annealing algorithm and related parameters were designed, and the feasibility of this method was verified through simulation and experiments. The proposed method achieved a higher localization accuracy without the need for accurate modeling of underwater acoustic channels. Under the conditions of the simulation environment, the average estimation error rate of the method was 0.24%, and with increases in the temperature coefficient and Markov chain length, the average estimation error rate of the method decreased. In the experimental environment, the average estimation error rate of the method was 0.45%. This study provides a method to obtain the depth of source in a shallow waveguide via the adjacent mode group acoustic pressure field.