The energy deposition of laser-accelerated proton beams in solid-density plasmas with different ion charge numbers is studied with detailed one-dimensional particle-in-cell simulations. In the plasma with a high ion charge number, in which the plasma collision frequency approaches electron oscillation frequency, the beam protons are strongly decelerated by the electric field induced by the plasma return current. The energy deposition is further enhanced as the beam travel distance increases due to beam density self-steeping, which is also confirmed by multi-dimensional particle-in-cell simulation. A simple analytical model is proposed to estimate the characteristic travel distance for significant density self-steeping, showing agreement with the simulation results. While in the plasma with a low ion charge number, in which the plasma collision frequency is much smaller than the electron oscillation frequency, the proton beam is modulated significantly by the excited two-stream instability.