Apart from thinning of cortical layers, the local bone curvature, varying along bone periphery,modulates ultrasound waves as well, which is however often underestimated or overlooked in clinical quantitative ultrasound (QUS). A dedicated three-dimensional finite element modelling technique for cortical bones was established, for quantitatively exploring and calibrating the effect of local curvature of cortical bone on ultrasound. Using a correlation-based mode extraction technique, high-velocity group (HVG) and low-velocity group (LVG) wave modes in a human radius were examined. Experimental verification using acrylic cylinders and in vitro testing using a porcine femur were accomplished. Results coherently unravelled the cortical curvature exerts evident influence on bone-guided ultrasound when RoC/λ<1 for HVG mode and RoC/λ<2 for LVG mode (RoC/λ: the ratio of local bone curvature radius to wavelength); the sensitivity of LVG mode to bone curvature is higher than HVG mode. It has also been demonstrated the local group velocity of an HVG or LVG mode at a particular skeletal site is equivalent to the velocity when propagating in a uniform cylinder having an outer radius identical to the radius of curvature at that site. This study provides a rule of thumb to compensate for the effect of bone curvature in QUS.