Structural elements undergo multiple levels of damage at various locations due to environments and critical loading conditions. The level of damage and its location can be predicted using acoustic emission (AE) waveforms that are captured from the generation of inherent microcracks. Existing AE methods are reliant on the feature selection of the captured waveforms and may be subjective in nature. To automate this process, this paper proposes a deep-learning model to predict the damage severity and its expected location using AE waveforms. The model is based on a densely connected convolutional neural network (CNN) that offers superior feature extraction and minimal training data requirements. Time-domain AE waveforms are used as inputs of the proposed model to automate the process of predicting the severity of damage and identifying the expected location of the damage in structural elements. The proposed approach is validated using AE data collected from a concrete beam and a wooden beam and plate. The results show the capability of the proposed method for predicting the level of damage with an accuracy range of 92-95% and identifying the approximate location of damage with 90-100% accuracy. Thus, the proposed method serves as a robust technique for damage severity prediction and localization in civil structures.