The health monitoring of cylindrical elements is particularly important for the safe operation of industrial production, because cylinders bear a lot of support and transmission work. Normal non-destructive evaluation techniques need special designs to suit high curvature surfaces of cylinders. Laser ultrasonic (LU) method can provide a remote and non-destructive inspection solution to solid cylinders due to its flexible adaptability to complex structures and strong penetration depth. However, constrained by the common problems of optical detection systems, the detected ultrasonic signals will suffer low signal-to-noise ratio and bad resolution from poor sample surface quality. Thus, a modified synthetic aperture focusing technique (SAFT) optimized for cylindrical components is proposed to improve the detectability of LU on small and buried defects. Mode conversion wave signals obtained by multiple separate excitations are used in SAFT imaging for the reconstruction of the defects under surface profile correction. To reduce the influence of incident waves such as direct surface acoustic wave, besides common difference method, adjacent wave subtraction algorithm based on cross-correlation is used for signal preprocessing, suppressing the incident waves and exaggerating the mode conversion waves. In numerical simulation, internal defects with diameters from 0.6 to 0.2 mm with various buried depths are visualized and accurately located via the optimized SAFT algorithm using mode conversion waves. For validation, a circumferential scanning system is established in LU experiment and internal defects from 0.8 to 0.4 mm in diameter inside solid cylinders are successfully detected with precise location. The results elucidate the reliability of characterizing the location of small internal buried defects in solid cylinder structures through LU-SAFT imaging.