We measure the phase velocities of surface acoustic waves (SAWs) propagating at different crystal orientations on (001)-cut GaAs substrates and their temperature dependance. We design and fabricate sets of interdigital transducers (IDTs) to induce 4 m SAWs via the inverse piezoelectric (PZE) effect between the PZE [110] direction (set as = 0°) and the non-PZE [100] direction ( = 45°) on GaAs. We also prepare ZnO-film sputtered GaAs substrates in order to launch SAWs efficiently by IDTs even in the non-PZE direction. We quantify acoustic velocities between 1.4 K and 300 K from the resonant frequencies in the 11 parameter using a network analyzer. We observe parabolic velocity-temperature trends at all -values both on GaAs and ZnO/GaAs substrates. Below 200 K, in ZnO/GaAs substrates slower SAW modes appear around the [110] direction, which are unseen at room temperature.