Discovering new topological phases of matter is a major theme in fundamental physics and materials science. Dirac semimetal provides an exceptional platform for exploring topological phase transitions under symmetry breaking. Recent theoretical studies have revealed that a three-dimensional Dirac semimetal can harbor fascinating hinge states, a higher-order topological manifestation not known before. However, its realization in experiment is yet to be achieved. In this Letter, we propose a minimum model to construct a spinless higher-order Dirac semimetal protected by C6 v symmetry. By breaking different symmetries, this parent phase transitions into a variety of novel topological phases including higher-order topological insulator, higher-order Weyl semimetal, and higher-order nodal-ring semimetal. Furthermore, for the first time, we experimentally realize this unprecedented higher-order topological phase in a sonic crystal and present an unambiguous observation of the desired hinge states via momentum-space spectroscopy and real-space visualization. Our findings may offer new opportunities to manipulate classical waves such as sound and light.