The possibility of collisions between vessels and bridges has an unavoidable increase, which may cause significant economic losses and sometimes even casualties. The finite element method is used to simulate the impact process between the vessel with raked bow and bridge pier. The influence of parameter on the structural response and impact force is discussed, including the impact velocity, angle, mass of vessel, and the shape of bridge. The relationship of collision force and energy of impact vessel is investigated. It is found that the collision energy shows a quadratic growth trend with the increase of vessel velocity.