In this study, a higher-order impact model is presented to simulate the response of a soft-core sandwich beam subjected to a foreign object impact. A free vibration problem of sandwich beams is first solved, and the results are validated by comparing with numerical finite element modeling results of ABAQUS and the solution by Frostig and Baruch [Frostig, Y., Baruch, M., 1994. Free vibration of sandwich beams with a transversely flexible core: a high order approach. Journal of Sound and Vibration 176(2), 195–208]. Then a foreign object impact process is incorporated in the higher-order model, and the contact force and deflection history as well as the propagation of transverse normal, shear, and axial stresses during the impact are analyzed and discussed. The validity of the model in the impact response predictions is demonstrated by comparing with finite element solutions of LS-DYNA. The calculated stresses caused by a foreign object impact are then used to assess failure locations, failure time, and failure modes in sandwich beams, which are shown to compare well with the available experimental results. The effects of impact mass, initial velocity, core stiffness, and core height on the impact stresses generated in the beams are discussed. The influences of impact mass and initial velocity on the contact force history are close to those by the linearized impact solution, but the proposed higher-order impact model captures the non-linear impact process and different generated stresses. Compared to the fully backed sandwich case, the core height shows a great influence over the impact process of a simply supported sandwich system, in which the global behavior of the sandwich is dominant; while the core stiffness shows minor effect over the impact process. The higher-order impact model of sandwich beams developed in the study provides accurate predictions of the generated stresses and impact process and can be used effectively in design analysis of anti-impact structures made of sandwich materials.