Heat-resistant composites, such as ceramic matrix composites and heat-resistant carbon fiber reinforced plastics (CFRPs), are expected to be used for aircraft engine parts. The development of reliable heat-resistant composite materials requires the use of nondestructive test techniques for evaluating the progression of damage during material testing at elevated temperatures. Furthermore, structural health monitoring (SHM) technologies that operate under harsh environments are expected to be realized for monitoring heat-resistant composite structures. To provide potential solutions for the establishment of such technologies, this research developed a heat-resistant ultrasonic sensor based on a regenerated fiber-optic Bragg grating (RFBG). First, we fabricated an RFBG by annealing a normal fiber-optic Bragg gratings (FBG) sensor. Because the RFBG exhibits high heat resistance at temperatures of 1000 °C, the sensor achieved stable ultrasonic detection at an elevated temperature. In addition, we attempted to use a π-phase-shifted FBG (PSFBG) as the seed grating to construct an ultrasonic sensor with enhanced performance. As a result, the regenerated phase-shifted fiber-optic Bragg grating (R(PS)FBG) sensor possessed a very short effective gauge length and achieved a broad frequency response to ultrasonic waves with frequencies greater than 1.5 MHz. The broadband detectability enables the R(PS)FBG sensor to acquire an accurate response to ultrasonic waves. Hence, we believe the regenerated Bragg grating-based ultrasonic sensors can contribute to establishing an effective nondestructive evaluation method for composite materials, thereby enabling a structural health monitoring system for a composite-made structure operating under extreme high-temperature environments.