In this paper, the applicability of the ultrasonic wave transmission method to estimate the initial setting time of an arbitrary cement paste is discussed. Ultrasonic pulse velocity measurements were fully automated and measured continuously. The Vicar Needle Test was used in order to determine the initial setting time of cement pastes. Different cement pastes were prepared in order to check the influence of the water/cement ratio, type of cement, curing temperature, cement fineness, and some clinker compositions, on the relationship between the initial setting time and ultrasonic pulse velocity. It was found that the initial setting time of an arbitrary cement paste can be estimated very accurately by the time the first inflection point appears on the ultrasonic pulse velocity curve. Moreover, it can be estimated quite accurately by the time the ultrasonic pulse velocity reaches a fixed value, close to the value of the ultrasonic pulse velocity in water.