Abstract: As one of the most commonly used ultrasonic guided waves, Lamb wave has the characteristics of concentrated energy, wide propagation range and small probe volume. Its application can be extended to the field of ice detection. In order to explore the propagation law of Lamb wave in ice, this paper constructs a physical model based on the Lamb wave propagation research platform of piezoelectric ceramics, and takes COMSOL Multiphysics software as the calculation tool to simulate the propagation of Lamb wave in ice with different thickness and length. On this basis, the Lamb wave ice detection platform was built, and the Lamb wave propagation experiment of the iced aluminum plate was carried out. Combined with the numerical simulation and experimental results, the effects of temperature, ice geometric characteristics and liquid water on the propagation characteristics of Lamb wave are clarified. The results show that the lower the temperature, the faster the group velocity of Lamb wave propagation; In a certain range of ice thickness, the attenuation of piezoelectric voltage amplitude at the receiver increases with ice thickness; The time delay of Lamb wave B₁ mode wave at the receiver increases linearly with the increase of ice length; Liquid water only affects A₀ mode of Lamb wave, but has little effect on S₀ mode. The experimental and numerical simulation results are in good agreement, which provides a theoretical reference for Lamb wave ice detection technology.