A noncontact and nondestructive method based on laser ultrasound is proposed for evaluation of porosity in additive manufacturing components. The 304L stainless steel samples with porosities in the range of 0.1%–5.7 % were fabricated using selective laser melting. Laser ultrasonic surface wave was used to characterize the porosity by the wave speed, peak frequency and wavelet packet energy. The result indicates that the surface wave speed, peak frequency and wavelet packet energy are sensitive to the slight variation of porosity in the samples. Good R-squares of fitting between surface wave velocity and porosity were obtained when it considers the pore irregular morphology. The peak frequency of surface wave decreases as the disappearance of high-frequency signals induced by the scattering attenuation. The wavelet packet analysis result shows that the sum of the percentage energy of the ninth layer of wavelet packet decomposition nodes 2–4 is linearly related to the porosity, and exhibits the highest coefficient of determination (R = 0.98) among the proposed characteristics. It is concluded that the laser ultrasonic surface wave based on wavelet packet energy is recommended to be a promising candidate for the quantitative nondestructive evaluation of the porosity of additive manufacturing components.