The impulse response method, as a mechanical impedance analysis method with high-impact energy, can provide a rapid assessment of structural integrity. For this reason, the impulse response method is applied to subway slab ballastless tracks, and the theory behind this method, as well as the applicability of detecting the voids within the self-compacting concrete (SCC) filling layer, are deeply studied. The theoretical derivation of the mobility function of subway slab ballastless track under impact load is performed. The finite element model is established and the propagation of elastic waves in the process of impulse response method is simulated. The study also investigates the sensitivity of various characteristic parameters and the frequency analysis range to void identification in the SCC filling layer. Furthermore, the characteristic parameters for defect identification in the SCC filling layer are constructed and subsequently validated through a full-scale test. The results reveal that the impulse response method is capable of generating elastic waves with higher energy and longer wavelengths within the structure. This characteristic is advantageous for the detection of concealed defects in the multi-layer structure. The mobility spectrum of subway slab ballastless track exhibits multi-frequency peak characteristics, and the calculated cut-off frequency of the peak-mean mobility ratio should be extended to more than 1600 Hz. Among the three characteristic parameters of peak mobility, dynamic stiffness, and peak-mean mobility ratio, the peak-mean mobility ratio has the advantage of accurately identifying the void position and providing a more precise range.