Based on the classical work of Biot [J. Acoust. Soc. Am.28, 168 (1956)] which predicts that three different kinds of bulk waves may propagate in the fluid‐saturated porous solid, the wave equation is solved to determine the energy reflection and transmission coefficients of plane elastic waves at oblique incidence on an interface between a fluid and a fluid‐saturated porous solid. For this purpose, the necessary formalism of the energy equation, the Poynting energy flux vector, and the sound intensity of elastic waves in fluid‐saturated porous media are presented. Two general cases of mode conversion have been investigated: (1) The initial wave is incident from the fluid to the interface and generates three transmitted bulk waves in the fluid‐saturated porous solid, and (2) the initial wave is incident from the fluid‐saturated porous solid to the interface and generates three reflected bulk waves in the same medium. Furthermore, the transmission of sound through a fluid‐saturated porous solid plate immersed in fluid is calculated. Measurement of sound transmission through a porous plate was carried out using experimental techniques suggested by Plona [Appl. Phys. Lett.36, 259 (1980)]. Good correlation between measured and calculated values of the angular behavior of the transmission coefficients for fast, shear, and slow waves was obtained after adjusting the theory for experimentally obtained attenuation.