We have developed a generation pulsed-laser scanning method for visualizing the propagation of ultrasonic waves. While scanning a target object with a pulsed-laser beam to generate thermal-exited ultrasonic waves, we detected the propagated waves with a fixed PZT transducer. Although the detected waves were generated from different irradiation points, we were able to produce moving images of the ultrasound generated at the reception-transducer position by reconstructing the measured waveform data. This method has the following features that make it superior to the conventional visualization methods such as photo-elasticity method, reception probe scanning method and computer simulation. (1) it enables us to visualize ultrasonic waves propagating on a complex-shaped object with curved surfaces, steps, and dents. (2) it provides excellent working efficiency by eliminating the need for adjustments to the laser incidence angle and the focal distance. For these reasons, we believe that this new method can be effectively applied to the inspection of defects in the field. In this study, we examined the applicability of this method to CFRP materials, and the results demonstrate the validity of this method for nondestructive flaw inspection in CFRP-structures.