In this work, identification of damage in uniform homogeneous metallic beams was considered through the propagation of non dispersive elastic torsional waves. The proposed damage detection procedure consisted of the following sequence. Giving a localized torque excitation, having the form of a short half-sine pulse, the first step was calculating the transient solution of the resulting torsional wave. This torque could be generated in practice by means of asymmetric laser irradiation of the beam surface. Then, a localized defect assumed to be characterized by an abrupt reduction of beam section area with a given height and extent was placed at a known location of the beam. Next, the response in terms of transverse section rotation rate was obtained for a point situated afterwards the defect, where the sensor was positioned. This last could utilize in practice the concept of laser vibrometry. A parametric study has been conducted after that by using a full factorial design of experiments table and numerical simulations based on a finite difference characteristic scheme. This has enabled the derivation of a response surface model that was shown to represent adequately the response of the system in terms of the following factors: defect extent and severity. The final step was performing the inverse problem solution in order to identify the defect characteristics by using measurement.