In grouted rock bolt systems, bond defects often occur, which seriously affects the safety of rock mass structures. Therefore, in this study, based on the existence of bond defects, laboratory tests were conducted to detect the location and length of bond defects and study the guided wave propagation in grouted rock bolt systems under different pullout loads. The guided wave signal was analysed in the time domain and frequency domain. In addition to the laboratory test, a numerical simulation of the effect of different bond defect locations on ultrasonic guided wave propagation in rock bolts was conducted using a damage-based model. The influence mechanism of bond defects on guided wave propagation under different pullout loads was explored. The study confirmed that there existed a stress platform in the rock bolt at the bond defect under a pullout load. The location and length of the bond defect could be detected by the stress platform and guided wave. The debonding length increased exponentially with the amplitude ratio (Q) of low frequency to high frequency, and the Q value could be used as the quantitative index of debonding length. As the pullout load increased, the impedance mismatch between the rock bolt and cement mortar (defect) increased, and the guided wave propagation in grouted rock bolt systems was irregular. The pullout load weakened the guided wave propagation law. The larger the pullout load is, the greater the weakening effect is.