We propose to experimentally explore the Haldane phase in spin-one XXZ antiferromagnetic chains using trapped ions. We show how to adiabatically prepare the ground states of the Haldane phase, demonstrate their robustness against sources of experimental noise, and propose ways to detect the Haldane ground states based on their excitation gap and exponentially decaying correlations, nonvanishing nonlocal string order, and doubly degenerate entanglement spectrum.