Despite a long history of studies, acoustic waves are generally regarded as spinless scalar waves, until recent research revealed their rich structures. Here, we report the experimental observation of skyrmion configurations in acoustic waves. We find that surface acoustic waves trapped by a designed hexagonal acoustic metasurface give rise to skyrmion lattice patterns in the dynamic acoustic velocity fields (i.e., the oscillating acoustic air flows). Using an acoustic velocity sensing technique, we directly visualize a Néel-type skyrmion configuration of the acoustic velocity fields. We further demonstrate, respectively, the controllability and robustness of the acoustic skyrmion lattices by tuning the phase differences between the acoustic sources and by introducing local perturbations in our setup. Our study unveils a fundamental acoustic phenomenon that may enable unprecedented manipulation of acoustic waves and may inspire future technologies including advanced acoustic tweezers for the control of small particles.