Pile foundations are used to support superstructures and play an important role in the safety of these structures. The performance of pile foundations generally depends on the conditions of the pile itself and the material under the pile, especially for end-bearing piles installed in soft soil volumes. Therefore, to assess the performance of existing pile foundations, it is crucial not only to evaluate the structural integrity of the pile itself, but also to assess the ground conditions, such as subsoil stiffness beneath the pile foundation. Accessing the subsoil beneath the pile foundation is highly challenging in the field. Hence, there is a need for the development of non-destructive pile evaluation methods that allow the assessment of subsoil stiffness beneath the pile without direct access to the subsoil. Various non-destructive methods have been developed for pile performance assessment. However, these conventional non-destructive methods are primarily designed for assessing the structural integrity of the pile itself, and there are no existing non-destructive pile integrity testing methods applicable to evaluate the subsoil stiffness beneath the pile tip. In this study, a non-destructive method is developed to evaluate the subsurface soil stiffness beneath pile without direct access. The proposed method involves applying impact loading to the easily accessible pile head and measuring the elastic waves propagated within the pile foundation due to the impact loading. These wave signals are then recorded at the pile head. The measured time–history signals are decomposed using harmonic wavelet transform. This allows the obtainment of well-defined magnitude and phase information over time for various individual frequency components composing the wave. In this study, a method is proposed to assess the stiffness of the subsoil beneath the pile by simultaneously utilizing the magnitude and phase information of the measured signals obtained through harmonic wavelet transform. To facilitate this, a step-by-step data analysis procedure for evaluating the subsoil stiffness beneath the pile is introduced. To validate the proposed method, numerical simulations were conducted using ABAQUS. The experimental data obtained from the numerical simulations were processed using the proposed method to assess the subsoil stiffness beneath the pile. The determined subsoil stiffness was then compared with the exact soil stiffness used in the numerical simulation to evaluate the validity of the proposed method. Through this analysis, the proposed method demonstrated its effectiveness in assessing the subsoil stiffness beneath piles installed in weak soil volume.