This　study　experimentally　and　numerically　investigated　the　dynamic　response　of　high-density　rigid　polyurethane　foam　(RPUF).　Firstly,　drop-weight　tests　were　conducted　under　three　impact　velocities,　2.42　m/s,　3.43　m/s,　and　4.85　m/s.　Test　results　showed　that　the　dent　depth　and　absorbed　energy　rise　as　impact　velocity　increases.　Then　the　constitutive　model　for　high-density　RPUF　based　on　an　ideal　elastoplastic　constitutive　model　is　proposed　based　on　the　measured　mechanical　properties,　including　quasi-static　uniaxial　compression　tests,　quasi-static　uniaxial　tensile　tests,　triaxial　confining　pressure　tests,　and　split-Hopkinson　pressure　bar　tests.　Finally,　the　numerical　simulation　of　the　drop-weight　tests　was　conducted.　It　was　shown　that　the　proposed　dynamic　constitutive　model　can　accurately　describe　the　dynamic　performance　of　a　high-density　RPUF　subjected　to　impact　loading.