Measurement of laser-generated transient Lamb waves propagation has been performed in 0.25 mm-thick iron plate by using a fibre sensor based on optical beam deflection technique. The detection principle of this optical method is discussed in detail. A high-powered Q-switched Nd:YAG laser was used to excite Lamb waves on the polished surface of iron plate. The well-defined Lamb waveforms, as well as their properties of oscillation and dispersion are presented in this paper. Furthermore, according to the ablation model, the development and propagation of Lamb waves are numerical simulated by the finite element method that has been widely used in laser ultrasonic field. The experimental results show good agreement with the numerical simulation. Therefore, this optical detection technique has considerable potential in ultrasonic field.