This paper investigates delamination detection in composite pipes using higher harmonic generation technique for the first time. The semi-analytical finite element (SAFE) method is developed to analyze the dispersion characteristics of the composite pipe. Then, a flexural mode at low frequency is selected to detect delamination. The three-dimensional (3D) finite element (FE) model is developed to simulate the flexural mode propagating in the composite pipe and its interaction with delamination. By comparing the simulated radial displacement signals with and without delamination, it is observed that the delamination can contribute to the higher harmonic generation. Subsequently, the ultrasonic measurements are conducted to demonstrate the numerical results. Using a relatively simple piezoelectric transducer (PZT) configuration, an almost pure flexural mode can be excited in the experiment. More importantly, experimental results indicate the higher harmonics induced by the delamination can be observed obviously. Finally, extensive parametric studies are performed to reveal the sensitivity of higher harmonics to the delamination with various sizes and at different interface. The proposed higher harmonic generation of flexural waves is promising for the practical application of delamination detection in composite pipes.