Ultrasonic structural health monitoring (SHM), employing embedded piezoelectric elements to actuate and sense ultrasonic waves, has greatly advanced in recent years. This paper presents a novel approach to address the prevailing challenges in the inspection of laminated structures for delamination using shear-mode (d15) piezoelectric transducers, composed of lead zirconate titanate (PZT). To experimentally evaluate the effectiveness of the proposed approach, a beam-like laminated specimen consisting of internally embedded d15 square PZTs was fabricated with simulated delamination at the interface of an adhesive joint. The evaluation of the results showed that the location of shear-mode actuators is a critical factor to detect delamination and to predict the propagation path of delamination. Delamination initiated close to actuators is more likely to be detected owing to their remarkable sensitivity of structural stiffness surrounding their region. The antisymmetric A0 wave mode generated by these actuators exhibits high interaction with damage, suggesting internally embedded d15 PZTs are a viable approach that can potentially advance the inspection tools of ultrasonic SHM.