An acoustic metasurface with a sub-wavelength thickness can manipulate acoustic wavefronts freely by the introduction of abrupt phase variation. However, the existence of a narrow bandwidth and a low transmittance limits further applications. Here, we present a broadband and highly transparent acoustic metasurface based on a frequency-independent generalized acoustic Snell's law and pentamode metamaterials. The proposal employs a gradient velocity to redirect refracted waves and pentamode metamaterials to improve impedance matching between the metasurface and the background medium. Excellent wavefront manipulation based on the metasurface is further demonstrated by anomalous refraction, generation of non-diffracting Bessel beam, and sub-wavelength flat focusing.