For sound speed imaging, different receive apertures are used instead of multiple transmissions from different angles. Acoustic echoes from a same transmission are receive beamformed with different apertures of the transducer array. The axial shift between the beamformed signals from the different apertures is used to solve for the speed of sound at one or more locations. The resulting measure of the speed of sound is displayed as the speed of sound in the tissue and may be diagnostically or prognostically useful.