The potential uses of carbon composite material are vast, particularly in the civil, mechanical and aero-structures. Nonetheless, the practical utilization of carbon composite faces challenges due to complex experimental methods and imprecise algorithms for inverting material properties. Characterization of full set of stiffness tensor for an anisotropic material in particular orthotropic material can be considered as a complex non-linear inversion problem. The inversion process requires a robust optimization algorithm and forward models. The complexity of this inversion process impedes the practical utility in large-scale automation and in real-time structural health monitoring (SHM) application. To cater this, in this work an advanced probabilistic machine learning framework based on multi-output Gaussian process regression (moGPR) is proposed as an inversion algorithm. The inversion algorithm proposed is based on probabilistic framework that utilises the dispersion of Lamb waves as an input for optimal estimation of stiffness tensor. Experimental measurements of full wavefield data of propagating waves are conducted by scanning laser Doppler vibrometer. Further, an optimal training dataset is generated by employing a forward model based on stiffness matrix method (SMM). In the presence of measurement uncertainties, the effectiveness of the optimal prediction algorithm is showcased through a comparison between the estimated parameter and its ground truth. This comparison reveals that the proposed inversion algorithm is both efficient and robust, delivering satisfactory performance even in the presence of substantial measurement uncertainties.