<p>This paper presents an improved compliant contact force model incorporating optimization algorithms into the determination of the hysteretic damping coefficient. First, the derivation processes of several established compliant contact force models are reviewed. Leveraging this framework, the derivation methodology is enhanced to develop the proposed model. The model's accuracy and reliability are rigorously validated through comparative numerical simulations and published experimental data. Performance benchmarks against five well-established compliant contact models—the Hertz, Hunt-Crossley, Flores, Hu-Guo, and Safaeifar-Farshidianfar models—demonstrate its superior precision in predicting contact force, velocity, indentation depth, and contact time during impact. Validation encompasses three numerical cases: (1) Fitting Accuracy Verification, (2) Free-Fall Sphere Impact Case, and (3) Head-on Collision Test between Sphere and Cylindrical Specimen. Comparative analysis reveals the model's distinct advantages in fitting coefficient of restitution values. Furthermore, computational results exhibit excellent agreement with experimental data, facilitating accurate simulation of collision dynamics across a wide range of coefficient of restitution values and impact velocities.</p>