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The in situ small punch (SP) test method is a simple screening technology developed to assess the hydrogen embrittlement (HE) characteristics of structural steels. This method can easily adjust the influencing parameters such as test temperature, gas pressure, and punch velocity depending on the hydrogen service environment. With increased hydrogen consumption, using pipelines for mass hydrogen transportation is being considered. This study evaluated the HE susceptibility of API-X52 and API-X70 steels, considering the hydrogen usage environment. The study investigated the effects of hydrogen pressure and punch velocity on the HE behaviors of each pipe steel at room temperature using the SP energy and relative reduction in thickness (RRT) to determine their effect on HE susceptibility quantitatively. The study found that hydrogen pressure produced a different HE effect; the lower the hydrogen pressure, the more HE was relieved. Particularly, when the punch velocity was high, such as 1 mm/min, the HE effect was significantly relaxed. However, when the punch velocity was below 0.01 mm/min, HE occurred even at low hydrogen pressure conditions, meaning hydrogen diffusion within the specimen during the SP testing reached a critical hydrogen concentration to create a brittle fracture. Both pipeline steels showed similar HE behaviors under a wide range of H2 pressures and punch velocities, showing an inverse S-curve for quantitative factors of SP energy and RRT against the H2 pressure at 1.0 mm/min punch velocity. The study classified the observed HE behaviors into four types based on quantitative and qualitative aspects. These findings confirm that the in situ SP test is a useful screening technique, and the factor RRT can be effectively applied to the HE screening of pipeline steels in low and high-pressure hydrogen environments.