This paper presents a wireless ultrasonic wavefield imaging (WUWI) technique for detecting hidden damage inside a steel box girder bridge. The proposed technique allows (1) complete wireless excitation of piezoelectric transducers and noncontact sensing of the corresponding responses using laser beams, (2) autonomous damage visualization without comparing against baseline data previously accumulated from the pristine condition of a target structure and (3) robust damage diagnosis even for real structures with complex structural geometries. First, a new WUWI hardware system was developed by integrating optoelectronic-based signal transmitting and receiving devices and a scanning laser Doppler vibrometer. Next, a damage visualization algorithm, self-referencing f-k filter (SRF), was introduced to isolate and visualize only crack-induced ultrasonic modes from measured ultrasonic wavefield images. Finally, the performance of the proposed technique was validated through hidden crack visualization at a decommissioned Ramp-G Bridge in South Korea. The experimental results reveal that the proposed technique instantaneously detects and successfully visualizes hidden cracks even in the complex structure of a real bridge.