In this study, impact elastic-wave method was performed at the bottom surface of RC slab cut from an existing highway bridges to survey the horizontal cracks. Before measurements by impact elastic-wave method, impact response analysis was applied to determine optimal steel ball diameter, distance between impact point and receiving point of elastic-wave. Efficiency of analysis-aided impact elastic-wave method was confirmed by drilling and observing the interior of the RC slab by stick scanner. Evaluation results by this method agreed well with results of visual inspection. Thus, validity of the analysis-aided impact elastic-wave method on detection of horizontal cracks in RC slabs of highway bridges was demonstrated.