An ultrasonic wave mode-based method for density measurement in highly foamed batters was developed. Therefore, a non-contact ultrasonic sensor system was designed to generate signals for batch-wise processes. An ultrasonic sensor, containing a piezoelectric ceramic at the fundamental longitudinal frequency of 2 MHz, was used to take impedance measurements in pulse-echo mode. The ultrasonic signals were processed and analysed wave-mode wise, using a feature-driven approach. The measurements were carried out for different mixing times within a container, with the attached ultrasonic sensor. Within the biscuit batter, the change to the ultrasonic signals caused by density changes during the batter-mixing process was monitored (R2= 0.96). The density range detected by the sensor ranges between 500 g/L and 1000 g/L. The ultrasonic sensor system developed also shows a reasonable level of accuracy for the measurements of biscuit batter variations (R2> 0.94). The main benefit of this novel technique, which comprises multiple wave modes for signal features and combines these features with the relevant process parameters, leads to a more robust system as regards to multiple interference factors.