In this study, a new method for determining the depth of frozen soil, Impulse Response Time Domain Reflectometry, is discussed. This method uses the principle of impedance measurement and the law of time–frequency domain convolution to convert the frequency-domain reflection signal into a time-domain signal and accurately determines the soil freezing front by measuring the difference between the impedance of frozen soil and unfrozen soil. The advantage of this method is that it solves the problems of small bandwidth, long rising edge time, and large measurement errors in the traditional TDR method to effectively improve the measurement accuracy of the soil-freezing front. Under laboratory conditions, soils of different textures (sand, loess, black soil, and red soil) were selected for experimental determination, and the results showed that compared with the traditional TDR method, the RMSE of the I-TDR method was small, and the method was applicable under different soil texture conditions, which could provide a new method for monitoring frozen soil in cold areas. In addition, the application of this method has important guiding significance for improving the efficiency of winter irrigation water, especially for guiding agricultural production, farmland irrigation, drainage engineering construction, meteorological frozen soil monitoring, and other aspects in cold and arid areas.