The elastic property of asteroids is one of the paramount parameters for understanding their physical nature. For example, the rigidity enables us to discuss the asteroid’s shape and surface features such as craters and boulders, leading to a better understanding of geomorphological and geological features on small celestial bodies. The sound velocity allows us to construct an equation of state that is the most fundamental step to simulate the formation of small bodies numerically. Moreover, seismic wave velocities and attenuation factors are useful to account for resurfacing caused by impact-induced seismic shaking. The elastic property of asteroids thus plays an important role in elucidating the asteroid’s evolution and current geological processes. The Hayabusa2 spacecraft brought back the rock samples from C-type asteroid (162173) Ryugu in December 2020. As a part of the initial analysis of returned samples, we measured the seismic wave velocity of the Ryugu samples using the pulse transmission method. We found that P- and S-wave velocities of the Ryugu samples were about 2.1 km/s and 1.2 km/s, respectively. We also estimated Young’s modulus of 6.0 – 8.0 GPa. A comparison of the derived parameters with those of carbonaceous chondrites showed that the Ryugu samples have a similar elastic property to the Tagish Lake meteorite, which may have come from a D-type asteroid. Both Ryugu and Tagish Lake show a high degree of aqueous alteration and few high-temperature components such as chondrules, indicating that they formed in the outer region of the solar system.