A new method for determining the burning rate of a solid propellant, called the Impulse Method, is proposed in this paper. It is based on the proportional relationship between the impulse generated and the mass of the burned propellant. The pressure–time and thrust–time curves are obtained from a tubular propellant grain burning in the chamber, whose inner surface serves as the initial burning surface. Consequently, the mass of the propellant that was burned off at different pressures can be determined, and the burning rates at different pressures are derived according to the geometric parameters of the propellant grain. The Impulse Method was applied to test the burning rate of two types of propellants twice. The results show that the burning rates were consistent for the same propellant at corresponding pressures, demonstrating the feasibility and reliability of the Impulse Method. The burning rate of a GAP-based composite propellant at 20 MPa measured using the Standard Motor Method was 22.6 mm/s, and that measured using the Impulse Method was 22.2 mm/s and 22.7 mm/s, respectively. These findings indicate that the two methods have comparable accuracy. However, the Impulse Method has the advantage of obtaining the burning rate of the solid propellant at any pressure through a single test. In addition, the nozzle erosion only affected the pressure and not the burning rate. Finally, the rationality of the approach for determining the actual specific impulse was proven by comparing the results with those from another testing method.