An active inspection system using Lamb waves for structural health monitoring was considered in this paper. In order to understand the characteristics of the Lamb waves propagating in a composite plate, the experiment was performed for a quasi-isotropic composite plate with thickness variation. Lamb waves were generated and received by the thin PZT transducers bonded on the surface. In this test, a simple new technique was tried for characterizing the Lamb waves propagating across the discontinuity due to the thickness variation. The results showed that Lamb waves were more sensitive to the thinner plate with faster group velocity and that the thickness change in composite plate was detectable. Consequently, the potential of applying this technique to structural health monitoring was verified.