A modified one-sided measurement technique is proposed for Rayleigh wave (R-wave) velocity measurement in concrete. The scattering from heterogeneity may affect the waveforms of R-waves in concrete, which may make the R-waves dispersive. In this study, the maximum energy arrival concept is adopted to determine the wave velocity by employing its continuous wavelet transform. Experimental study was performed to show the effectiveness of the proposed method. Results reveal that the proposed method can be effectively used to measure the R-wave velocity in concrete structures.