  Gravitational echoes can be used to probe the structure of spacetime. In this
paper, we investigate the gravitational echoes in different braneworld models
in five-dimensional spacetime. We derive the gravitational perturbation
equations of these models, and obtain the time-dependent evolution equations of
the extra-dimensional and radial components. Using a Gaussian wave packet as
initial data, we study the time evolution of the gravitational perturbation. By
monitoring the evolution of the Gaussian wave packet, the gravitational echoes
are observed whether the wave packet is generated from inside or outside the
braneworld. Furthermore, we can restrict the parameters of the braneworld by
calculating the strength of the first gravitational echo and using the current
gravitational wave data.
