A lightweight composite bridge deck system composed of steel orthotropic deck stiffened with thin Ultra-High Performance Concrete (UHPC) layer is developed to eliminate fatigue cracks in orthotropic steel decks. During the construction and operation period of the bridge, the debonding between the steel deck and the UHPC layer may introduce the several issues, such as crack-induced water invasion and distinct reduction of the shear resistance. In the study, an effective and novel non-destructive interface condition monitoring approach using piezoelectric lead zirconate titanate (PZT)-based technologies is proposed to detect interfacial delamination between steel deck and UHPC layer. Experimental tests are performed on several steel-UHPC composite slabs and a conventional steel-concrete composite slab. The thin styrofoam sheets with different sizes and thicknesses are set on different locations of the steel deck as the artificial debondings. The PZT ceramic patches are bonded on the surfaces of the steel deck and UHPC layer as the actuators/sensors. An improved PSO (Particle Swarm Optimization)-K-means clustering algorithms is proposed to obtain the debonding patterns based on the feature data set. The laboratory tests demonstrate that the proposed approach provides an effective and accurate way to detect interfacial debonding of steel-UHPC composite slab.