We performed an experimental study to verify the range of passively scattered proton beams by detecting prompt gamma-rays emitted from proton-nuclear interactions. A method is proposed using a single scintillation detector positioned near the distal end of the irradiated target. Lead shielding was used to attenuate gamma-rays emitted along most of the entrance path of the beam. By synchronizing the prompt gamma-ray detector to the rotation of the range modulation wheel, the relation between the gamma emission from the distal part of the target and the range of the incident proton beam was determined. In experiments with a water phantom and an anthropomorphic head phantom, this relation was found to be sensitive to range shifts that were introduced. The wide opening angle of the detector enabled a sufficient signal-to-background ratio to be achieved in the presence of neutron-induced background from the scattering and collimating devices. Uniform range shifts were detected with a standard deviation of 0.1 mm to 0.2 mm at a dose level of 30 cGy to 50 cGy (RBE). The detectable magnitude of a range shift limited to a part of the treatment field area was approximately proportional to the ratio between the field area and the area affected by the range shift. We conclude that it is feasible to detect changes in the range of passively scattered proton beams using a relatively simple prompt gamma-ray detection system. The method can be employed for in vivo verification of the consistency of the delivered range in fractionated treatments.