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The paper is devoted to investigation of ultrasonic signal properties and their changes during cyclic loading of CFRP sandwich panels with aluminum honeycomb core. In order to estimate the mechanical state of the composite structures the Lamb wave based technique is proposed. Acoustic signals are generated and sensed by piezoelectric transducers adhesively bonded on the specimen surface. Sensed signals are analyzed by computing the set of informative parameters which characterize ultrasonic signals evolution during cyclic tests. The paper represents the results allowing identification of three stages of fatigue damaging and failure for two specimens subjected to tensile-compressive loading.