Small and full scale model tests were performed to obtain the transient responses of shafts subjected to elastic impact by impact-echo test. Four end conditions of drilled shafts were considered: (1) free, (2) fixed, (3) rock-socketed, and (4) soft bottom. In small scale model tests, mock-up shafts were fabricated to simulate these four drilled shafts using poly-urethane and plastic material. Additionally, skin frictions between shaft and rock were changed to find out the effect of side contact on dynamic responses. All impact responses were tested in the air. Subsequently, full scale model tests were also carried out on concrete shafts that were in free and rock-socketed condition. The end conditions of the drilled shafts could be identified with good reliability by the waveforms from both small and full scale model tests. The results obtained in this study will provide an improved understanding of the impact responses for end conditions, especially for rock-socketed drilled shafts that are frequently designed and built in Korea.