A team of researchers from the University of St Andrews in Scotland filmed a group of the animals in order to decipher this "gestural repertoire".
The team then studied 120 hours of footage of the chimps interacting, looking for signs that the animals were intentionally signalling to each other.
The findings are published in the journal Animal Cognition.
Previous studies on captive chimps have suggested the animals have about 30 different gestures.
"So this [result] shows quite a large repertoire," lead researcher Dr Catherine Hobaiter told BBC News.
"We think people previously were only seeing fractions of this, because when you study the animals in captivity you don't see all their behaviour.