The concrete-filled fiber-reinforced polymer tube (CFFT) is a type of structural element widely used in corrosive environments. Poor grout compactness results in incomplete contact or even no contact between the fiber-reinforced polymer (FRP) tube and the concrete grout, which reduces the load bearing capacity of a CFFT. The monitoring of grout compactness for CFFTs is important. The piezoceramic-based electromechanical impedance (EMI) method has emerged as an efficient and low-cost structural health monitoring technique. This paper presents a feasibility study using the EMI method to monitor grout compactness of CFFTs. In this research, CFFT specimens with different levels of compactness (empty, 1/5, 1/3, 1/2, 2/3, and full compactness) were prepared and subjected to EMI measurement by using four piezoceramic patches that were bonded circumferentially along the outer surface of the CFFT. To analyze the correlation between grout compactness and EMI signatures, a compactness index (CI) was proposed based on the root-mean-square deviation (RMSD). The experimental results show that the changes in admittance signatures are able to determine the grout compactness qualitatively. The proposed CI is able to effectively identify the compactness of the CFFT, and provides location information of the incomplete concrete infill.