Ultrasonic　phased　array　(UPA)　provides　a　powerful　tool　for　nondestructive　testing　(NDT)　of　carbon　fiber-reinforced　plastic　(CFRP).　By　the　aid　of　full　matrix　capture　(FMC)　technique,　the　optimum　resolution　of　anisotropic　CFRP　inspection　could　be　achieved　by　the　total　focusing　method　(TFM).　The　directional　dependence　of　ultrasonic　velocity　is　one　of　the　biggest　challenges　due　to　the　anisotropy　of　CFRP.　The　objective　of　this　research　is　to　establish　a　joint　method　to　estimate　direction-dependent　velocity　and　damage　location　of　CFRP.　To　obtain　group　velocity　without　prior　knowledge　of　neither　theoretical　calculation　nor　experimental　determination,　a　limited　angle　range　of　the　anisotropic　velocity　is　first　obtained　by　backwall　reflection　method　(BRM),　which　is　then　extended　by　analyzing　the　relation　between　the　time　delay　of　backwall　and　side　drilled　hole　(SDH)　reflection.　The　effectiveness　of　the　proposed　method　is　experimentally　demonstrated　with　UPA　imaging　of　SDH　in　composite　laminates.　©　2020　by　ASME.