We have been studying non-invasive and non-destructive methods for inspecting internal structures that use laser-induced ultrasonic waves and an optical measurement technique. As one solution, we propose a new method for determining the internal structure from images of propagating ultrasonic waves induced by a single laser pulse, using a visualization technique that uses a laser beam for illumination and an image-converter tube. In this paper, the captured images of propagating ultrasonic waves in the space-time domain with nanosecond time resolution and two-dimensional dynamic images with fifty nanosecond exposure time are presented and analyzed. This investigation demonstrates the suitability of this proposed method for industrial applications.