A device for measurement of ultrasonic wave transit times of an ultrasonic flow sensor consists of: 1) a synchronization signal generator, 2) a reference pulse generator, 3) a sine wave generator, 4) an analog signal amplifier, 5) a comparator, 6) a plurality of latch circuits, 7) a digital adder, 8) an integrator, 9) an A/D converter. 10) a master counter, 11) a plurality of edge counters, and 12) an arithmetic circuit. The device measures the ultrasonic wave transit times using a method of averaging the ultrasonic wave arriving limes at different measuring points (triggering point). This method has less dependency on triggering threshold level and the ultrasonic signal amplitude, and thus has less dependency on threshold drift, threshold stability, system gain fluctuation, electronic noise and signal amplitude variations. As a result, the method can greatly improve the velocity measurement accuracy and system robustness of an ultrasonic flow sensor.