This study examined the applicability of acoustic emission testing (AT) for the impact damage evaluation of CFRP pressure vessels. AE signals were detected during pressurization tests of CFRP pressure vessels before and after an impact test. The impact test of 15-J energy was conducted by using a drop-weight impact tester. Before the impact test, a few AE signals were detected during the pressurization test. After the impact test, however, a large number of AE signals were detected during the pressurization test. From these results, it is assumed that AT can be used for the impact damage evaluation of CFRP pressure vessels. In addition, the dominant frequencies of AE signals were changed after the impact test. So there is a possibility that impact damage could be also detected by analyzing the frequency of AE signals.