The quasistatic pulse (QSP) generation of ultrasonic guided waves in composite pipes can exhibit many features that are useful for early-stage material characterization and structural health monitoring. The intrinsic relationship between the QSP generation and the weak elastic nonlinearity of solids is complex. It has yet promised for developing the nonlinear ultrasonic guided wave technique that combines its advantages of high sensitivity to microdamage and low ultrasonic attenuation in composite materials. This study presents a systematic investigation of the QSP generation in fiber reinforced composite pipes. Using a three-dimensional finite element simulation with a nonlinear material model, the temporal waveform, mode conversion effect, cumulative effect, generation efficiency, and duration effect of QSP generation are revealed. The nonlinear QSP signals in laminated composite pipes are confirmed as the fastest wave mode that only has axial displacement. The shape of QSP depends on the group velocity difference between the QSP and the primary wave. The magnitude of QSP is related to the excitation level, frequency, and tone-burst duration of the primary wave. Experiments are conducted using carbon fiber reinforced composite pipes and the signals are measured using a laser vibrometer scanning system for verifying the QSP generation. The experimental results are consistent with the numerical findings. A relative nonlinear acoustic parameter based on the QSP generation is proposed and used to evaluate the early-stage thermal fatigue damage in the pipes. The measured nonlinear acoustic parameter demonstrates high sensitivity to the damage, indicating considerable potential for industrial applications.