Cold compaction of ceramic powders is driven by plastic strain, during which the elastic stiffness of the material progressively increases from values typical of granular matter to those representative of a fully dense solid. This increase of stiffness strongly affects the mechanical behaviour of the green body and is crucial in the modelling of forming processes for ceramics. A protocol for ultrasonic experimental investigation (via P and S waves transmission) is proposed to quantify the elastic constants (Young modulus and Poisson's ratio) as functions of the forming pressure. Experimental results performed in uniaxial strain allow for the introduction of laws that describe the variation of the elastic constants during densification. These laws are motivated in terms of elastoplastic coupling through the simulation of an isostatic pressure compaction process of alumina powder. A micromechanical explanation of the stiffening of elastic properties during densification is deferred to Part II of this study.