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Accurately measuring the viscoelastic properties of biomaterials is critical for understanding their functions in biological systems and optimizing their development for specific applications. Conventional methods often require direct physical contact, which hinders longitudinal studies of sterile samples and impose strict requirements in sample preparation. Here, we introduce tensile acoustic rheometry (TAR), a technique for rapid, contactless characterization of soft viscoelastic biomaterials. TAR uses a dual-mode ultrasound approach to apply an upward force impulse, generating oscillatory tensile and compressive motion in a small, free-standing sample (~30 mm3) with its bottom immobilized on a pre-wetted flat surface by capillary stiction. High frequency ultrasound pulse echo detection is employed to track this motion via the movement of the top surface of the sample in real time. In this study, we developed a theoretical framework of the tensile-compression motion of the sample from which Young’s modulus and viscosity of the sample are determined based on the TAR measurements. TAR was validated across a variety of samples, including engineered hydrogels and commercially available natural food products. Results from TAR measurements aligned closely with theoretical predictions, reported values, and shear wave elastography measurements. These findings underscore the versatility and flexibility of TAR as a robust, versatile rheological method for biomaterial characterization with minimal sample preparation requirements.