The objectives of this study are to develop a non-contact ultrasonic IoT (Internet of Things) system and to investigate its applicability in monitoring the hardening process of cementitious materials. The conventional measurement methods, which include contact or embedded sensors with wires, have limited applicability on complex construction sites. Therefore, in this study, we propose the non-contact ultrasonic method for identifying the properties of cementitious materials using the characteristics of the leaky Rayleigh waves and demonstrate the effectiveness of an IoT system in improving the limitations of wired systems. The apparatus developed includes an ultrasonic transmitter, sensor board and operating software. First, we demonstrated that the non-contact ultrasonic IoT system delivers commands up to a distance of 20 m at a Wi-fi strength greater than −70 dBm. Furthermore, experimental validation was performed on three different cementitious materials (cement paste, mortar, and concrete) to investigate the applicability of the system.