With the rapid advancement of three-dimensional transportation and an increasing number of bridges being constructed, bridges face various lateral impact loads on different parts of the piers throughout their lifespan. This study proposed a method to evaluate the impact resistance of piers by assessing the residual deformation post-impact. The nonlinear finite element (FE) models were established based on MCFT-featured VecTor2 and verified methodology through the physical experiments on reinforced concrete (RC) and ultra-high performance concrete (UHPC) members, this research investigated the impact resistance of RC and UHPC piers under varying impact locations. The ultimate energy-dissipating curves of the piers were obtained for various impact locations through a quantification method. The influences of several design parameters, including stirrup ratio, impact mass, and structural dimensions, on the impact resistance of bridge piers were examined and discussed. The findings indicate that when an impact occurs near the base of the pier, shear damage is more likely, leading to a significant reduction in its impact capacity. Techniques such as increasing stirrup ratios or expanding the pier cross-section can enhance shear-bearing capacity, preventing shear failures and consequently improving impact resilience. Comparatively, under similar reinforcement conditions, UHPC piers exhibit 3–4 times greater impact limit energy than RC piers, demonstrating superior impact resistance. This analytical approach aids in predicting the most critical impact location on bridge piers and determining the dynamic shear capacity at these vulnerable points.