Structural health monitoring (SHM) based on guided waves allows assessing the health of a structure due to the sensitivity to the occurrence of delamination. However, wave propagation presents several complexities for effective damage identification in composite structures. An efficient implementation of a guided wave-based SHM system requires an accurate analysis of collected data to obtain a useful detection. This paper is concerned with the identification of small emerging delaminations in composite structural components using a sparse array of surface ultrasonic transducers. An ultrasonic-guided wave tomography technique focused on impact damage detection in composite plate-like structures is presented. A statistical damage index approach is adopted to interpret the recorded signals, and a subsequent graphic interpolation is implemented to reconstruct the damage appearance. Experimental tests carried out on a typical composite structure demonstrated the effectiveness of the developed technique with the aim to investigate the presence and location of damage using simple imaging reports and a limited number of measurements. A traditional ultrasonic inspection (C-scan) is used to assess the methodology.