The invention provides a steel shell concrete structure defect detection method, which comprises: a data collection step: obtaining global waveform data, wherein the global waveform data is formed ona steel shell concrete structure through excitation; an information identifying step: processing the global waveform data to obtain the sub-global waveform information corresponding to any one or anymultiple components in the steel shell concrete structure; and an imaging step: extracting the feature values in the sub-global waveform information, and imaging to obtain a three-dimensional void thickness image. Accordingly the present invention further provides a steel shell concrete structure defect detection system, a steel shell concrete structure defect detection apparatus, and a computer readable storage medium for storing computer programs. According to the present invention, with the method, the system and the apparatus, the concrete filling compaction and the detect size in the large volume steel shell can be subjected to rapid detection and rapid three-dimensional imaging, such that various performance indexes of the steel shell concrete can be ensured so as to ensure the actual use.