This research study employed an immersion-based micro-resolution ultrasonic velocity measurement technique (MUVT) to evaluate Grade 91 (9Cr-1Mo-V) steel welds. This process utilized a 20 MHz focused ultrasonic beam with a spot size of 250 µm, a 6 µm laser vibrometer spot size for detection, and an automated 3-axis raster scanner to accurately collect ultrasonic velocity data from two Grade 91 steel welds fabricated using cold metal transfer (CMT) and flux-cored arc welding (FCAW) processes. By analyzing the MUVT data, the Poisson’s ratio (υ) and modulus of elasticity (E), which are important mechanical properties for weldments, were calculated. The correlation between mechanical properties and ultrasonic velocity was examined. The results indicated that longitudinal ultrasonic velocity could effectively identify base metal, heat-affected zone (HAZ), and weld metal areas, showing a strong correlation with hardness. In particular, the distinctive V-shaped dip in velocity and hardness data across the HAZ areas of both samples highlighted changes in the microstructure of creep strength–enhanced ferritic steel welds. Importantly, the immersion-based MUVT demonstrated high accuracy in small sections of the weld, surpassing the conventional contact ultrasonic testing method in spatial resolution detection.