The mortise-and-tenon joint prefabricated connection combines the assembly form of mortise-and-tenon joints and cast-in-place wet joints. It achieves reliable joint connections through small joint depths and lap-spliced reinforcement lengths. To study the impact resistance and damage characteristics of the assembled pier, a nonlinear finite element analysis was performed on the assembled and monolithic pier model piers to study the effects of mortise-and-tenon joint depths, lap reinforcement, and grout on the response of the piers to vehicle impact. The results showed that, after impact, the damage to the prefabricated pier was similar to that of the monolithic one. The failure mode involved opening of the seam at the impact face-pier bottom junction and localized concrete compression at the back-impact face pier bottom, and damage accumulated from the column base towards the column centerline. The mortise-and-tenon joint provided substantial horizontal constraint for the pier, imparting excellent resistance to lateral stiffness. Consequently, both piers showed nearly identical peak impact forces, yet the prefabricated pier exhibited a lesser degree of bending deformation compared to the monolithic one. The depth of the mortise-and-tenon joints was a critical factor affecting the impact response of the prefabricated bridge pier. When the depth reached 0.4D or more, it ensured good impact resistance and joint connection, enhancing energy absorption capability and reducing pier damage. The length of lap-spliced reinforcement significantly affected the overall integrity of prefabricated component connections. Lap lengths of 10d or more greatly reduced the probability of failure in the connection between pier columns and cap beams, lowering damage to the pier columns, joints, and pier cap beams, thus ensuring good impact resistance. The diameter of the lap-spliced reinforcement and the elastic modulus of the grouting material affected the local stiffness near the joints. Increasing the diameter of the lap-spliced reinforcement appropriately prevented excessive local damage, while altering the elastic modulus had minimal impact on improving pier damage.