Elastic wave velocities in metallic structures are affected by variations in environmental conditions such as changing temperature. This paper extends the theory of acoustoelasticity by allowing thermally induced strains in unconstrained isotropic media, and it experimentally examines the velocity variation of Lamb waves in aluminum plates (AL-6061) due to isothermal temperature deviations. This paper presents both thermally induced acoustoelastic constants and thermally varying effective Young's modulus and Poisson's ratio which include the third order elastic material constants. The experimental thermal sensitivity of the phase velocity (∂v(P)/∂θ) for both the symmetric and antisymmetric modes are bounded by two theories, the acoustoelastic Lamb wave theory with thermo-acoustoelastic tensors and the thermoelastic Lamb wave theory using an effective thermo-acoustoelastic moduli. This paper shows the theoretical thermally induced acoustoelastic Lamb wave thermal sensitivity (∂v(P)/∂θ) is an upper bound approximation of the experimental thermal changes, but the acoustoelastic Lamb wave theory is not valid for predicting the antisymmetric (A0) phase velocity at low frequency-thickness values, <1.55 MHz mm for various temperatures.