In this work, we show that a large class of models with a composite dark sector undergo a strong first order phase transition in the early Universe, which could lead to a detectable gravitational wave signal. We summarize the basic conditions for a strong first order phase transition for SU(N) dark sectors with n_{f} flavors, calculate the gravitational wave spectrum and show that, depending on the dark confinement scale, it can be detected at eLISA or in pulsar timing array experiments. The gravitational wave signal provides a unique test of the gravitational interactions of a dark sector, and we discuss the complementarity with conventional searches for new dark sectors. The discussion includes the twin Higgs and strongly interacting massive particle models as well as symmetric and asymmetric composite dark matter scenarios.