This study aims at evaluating reinforced concrete (RC) bridge elements using ultrasonic pitch and catch (UPC) non-destructive testing (NDT) technique. A validation reinforced concrete slab with two embedded layers of rebars and artificial defects (voids, honeycombs, and debondings) was designed and tested. A commercial UPC NDT device (hereafter called “UPC device”), which is based on the ultrasonic shear-wave test method using dry-point-contact transmitting and receiving transducers in a “pitch-catch” configuration, was used to map internal defects of the validation RC slab. The recorded data from the UPC device was analyzed using a modified synthetic aperture focusing technique (SAFT). A software was developed to reconstruct 2-D images of the RC slab cross-sections using novel signal filtering and processing techniques. The results revealed that the 2-D image reconstructed from the developed software accurately exhibited locations and horizontal dimensions of the steel rebars, voids, and debondings. In addition, the developed software was capable to provide much higher resolution and sharper images of the anomalies inside the RC slab compared to the UPC device’s proprietary imaging software.