A soil probing device includes a probing rod with a measuring probe, a driving for penetrating the probing rod into the ground, generators for generating acoustic compression and shear waves into the ground, detectors for detecting the generated acoustic compression and shear waves. The detectors are built into the measuring probe. Also the generators are built into the measuring probe at positions that are interspaced at fixed distances in a z-direction from the detectors in the measuring probe. A processing unit CPU is provided for calculating velocities of the generated acoustic compression and shear waves that get to travel from the generators towards the detectors through local ground layers that lie adjacent the measuring probe in between the generators and detectors.