In order to overcome the susceptibility of conventional non-destructive testing (NDT) techniques to operational and environmental variations, a new damage detection technique that does not require direct comparison with baseline data was previously developed by the authors for detecting a crack in a plate structure. This reference-free technique employs two pairs of collocated lead zirconate titanate transducers (PZTs) placed on both sides of the plate to generate and measure Lamb waves. Then, the existence of mode conversion due to the crack is identified from the Lamb wave signals instantly measured by PZTs. In this study, the effectiveness of the proposed technique is tested using a steel girder specimen. A cyclic loading is applied to the girder resulting in fatigue cracks, and the proposed technique detects the appearance of fatigue damage solely based on the measured Lamb waves at the present stage. Experimental results are presented to demonstrate the applicability of the proposed technique to fatigue crack monitoring, and issues related to PZT installation are discussed.