This work assesses the suitability of the two zero-order Lamb wave modes to detect multiple barely-visible impact damage in composite material. Three specimens were subjected to damage at three different low-energy levels and one was left as an undamaged reference sample. Ultrasonic Lamb wave modes were selectively generated by surface-bonded piezoceramic wafer transducers in two tuned configurations. By using an algorithm based on the Akaike Information Criterion the time-of-flight of the Lamb modes was determined, allowing their threshold detection capabilities for the studied application to be successfully benchmarked. The results were consistently validated by digital shearography, ultrasonic C-scan and optical microscopy. A study of the effects on structural integrity was completed with an assessment of the damping ratio and residual bending strength proving to be sensitive parameters to the induced damage.