A hydrogen visualization method with high responsivity and chemical stability under atmospheric corrosion is necessary to inhibit hydrogen embrittlement, which can occur with hydrogen uptake of structural materials. In this study, a highly responsive hydrogen mapping technique for steels was successfully established using a TiO2 thin film and Pd intermediate layer. The color of the TiO2 film on the hydrogen-detection side changes during hydrogen charging on the hydrogen-entry side of the Fe specimen, indicating that the color changes were attributed to the hydrogen uptake of the Fe surface and subsequent introduction of hydrogen atoms to the TiO2 film. Considering the responsivity and visibility, the optimal thickness of the TiO2 film was determined to be 20 nm. As TiO2 is a chemically stable material, the proposed mapping technique can be used to monitor the hydrogen absorbed into metallic materials under outdoor conditions.