AbstractPoloidal ULF waves are capable of efficiently interacting with energetic particles in the ring current and the radiation belt. Using Van Allen Probes (Radiation Belt Storm Probes (RBSP)) data from October 2012 to July 2014, we investigate the spatial distribution and storm time occurrence of Pc4 (7–25 mHz) poloidal waves in the inner magnetosphere. Pc4 poloidal waves are sorted into two categories: waves with and without significant magnetic compressional components. Two types of poloidal waves have comparable occurrence rates, both of which are much higher during geomagnetic storms. The noncompressional poloidal waves mostly occur in the late recovery phase associated with an increase of Dst toward 0, suggesting that the decay of the ring current provides their free energy source. The occurrence of dayside compressional Pc4 poloidal waves is found correlated with the variation of the solar wind dynamic pressure, indicating their origin in the solar wind. Both compressional and noncompressional waves preferentially occur on the dayside near noon at L∼5–6. In addition, compressional poloidal waves are observed at magnetic local time 18–24 on the nightside. The location of the Pc4 poloidal waves relative to the plasmapause is investigated. The RBSP statistical results may shed light on the in‐depth investigations of the generation and propagation of Pc4 poloidal waves.