Pipeline welds typically do not have secondary reinforcement, rendering welds highly vulnerable to leakage accidents caused by the movement of gases or liquids. Therefore, identifying internal defects in welds through radiographic testing (RT) is critical for a visual and quantitative evaluation of weld defects. In this study, we developed a device that can automatically inspect the circumferential connection between pipes by applying a digital radiography testing (DRT) technique that can convert radiation signals into real-time electrical signals by using a digital detector array (DDA). Gamma rays were used to minimize spatial constraints in the inspection environment and optimization was performed to satisfy quality requirements set by international standards. Furthermore, FLUKA simulation was performed to predict radiation intensity for accurate radiation leakage identification to enable the shielding design to be supplemented with lead rubber. This measure considerably reduces the safe distance for radiation leakage during field testing. The results confirmed the feasibility of a novel automated inspection technique that integrates automatic inspection devices and ensures safety using radiation, the byproduct of which is a hazardous material.