Recently, terahertz (THz) nondestructive testing technology has prevailed in the defect detection of composite materials yet is limited by identifying deeper flaws. To solve this problem, a time-domain piecewise imaging method based on terahertz signal extraction is proposed in this article. First, the surface reflection echo signal is removed by applying a time correction, and the time-domain signal is then segmented according to the thickness of the sample. Finally, high-quality terahertz images are obtained by image fusion technology. All imaging methods, including traditional ones, are utilized to detect defects in glass fiber reinforced plastic (GFRP) sample then the signal-to-noise ratio (SNR) and defect edge contrast of each method are calculated. The experimental results show that the proposed method can effectively improve the terahertz imaging of deeper defects in GFRP sample especially for multi-depth defects and possesses the highest SNR and defect edge contrast.