In this paper, a method for identifying the location and force history of an impact force acting on CFRP structures is proposed. The impact force is identified using experimental transfer matrices, which relate the impact force and the responses of PZT sensors. Here, experimental transfer matrices are determined from the measured data obtained from impact tests using an impulse hammer. In the impact location identification, differences in arrival times of the flexural wave is used to estimate the impact location. In order to determine the arrival times accurately and rapidly, a band-pass filter is used. After the estimated impact location is obtained, the impact location and force history are identified by minimizing the deviation between the measured sensor responses and the responses estimated from experimental transfer matrices. Impact force identification of CFRP laminated plates is performed experimentally in order to verify the validity of the proposed method. Moreover, impact force identification is also performed for a CFRP stiffened panel.