When an underwater vehicle is sailing, there is the possibility of collision with seamounts and reefs, which is a big risk for underwater vehicle. Based on Abaqus, the collision process between underwater vehicle and seamount is numerically simulated in this paper to analyze the structure damage, deformation and structural dynamic response during collision. On this basis, the influence of velocity and setover is further discussed. As a result, this paper finds that the damage of structure increases with the increase of velocity and setover. Meanwhile, the dynamic response of crash area is much bigger than other area, which proves that dynamic response has a strong local effect. Those results can provide reference for the navigation safety of underwater vehicle.