Aiming at the problem that the pulse signal is nonlinear, non-stationary and difficult to denoise, a joint denoising method based on improved adaptive noise set empirical mode decomposition (ICEEMDAN) and wavelet packet decomposition (WPD) is proposed to denoise the collected pulse signal. Firstly, ICEEMDAN mode decomposition is performed on the noise signal to generate a series of intrinsic mode functions (IMF). Then these IMF components are calculated with the correlation coefficient of the original signal respectively, the value of the correlation coefficient is compared, and then the signal is reconstructed. Finally, the reconstructed signal is decomposed by wavelet packet to extract the denoised pulse signal. The simulation data and the actual pulse signals are used for experimental analysis. The method is compared with the ensemble empirical mode decomposition (EEMD), and the signal-to-noise ratio (SNR) and root mean square error (RMSE) of the two methods are compared. The experimental results show that the joint denoising method based on ICEEMDAN-WPD can remove the noise more effectively and preserve the characteristics of pulse signal better.