The application of metal impregnation pretreatment to improve the quality of biomass pyrolysis gas production is considered as a promising upgrading technology. Transition metals have been well developed for the unique structural characteristics. After impregnation pretreatment, the product distribution of biomass pyrolysis was changed, and the transfer path of H atoms and the formation mechanism of H2 can be revealed through analysis. The effects of impregnation pretreatment with three different transition metals (iron, cobalt, and nickel) on the pyrolysis characteristics of corn straw were evaluated in this work. Three transition metal solutions with concentrations of 0.5 M, 1 M, and 2 M were used to explore the influence of impregnation concentration on the yield and composition of the pyrolysis products. The results showed that iron promoted the formation of liquid products, whose proportion increased by 37.29% upon increasing the impregnation solution concentration. The addition of cobalt and nickel led to more pyrolysis gas generation. When the impregnation solution concentration was greater than 0.5 M, the gas production rate exceeded 45 wt%. Nickel simultaneously promoted the generation of H2 and CH4 in pyrolysis gas, whose yields were increased by 63% and 20% respectively compared with raw materials. Py-GC/MS analysis showed that Co-CS had strong decarboxylation characteristics during pyrolysis. Metal impregnation decreased the content of aromatic compounds in tar, which increased the stretching vibrations of C-H bonds in char. Ring-opening rearrangements of polycyclic aromatic hydrocarbons were promoted, which formed more -H. Nickel catalyzed the removal of CH3 and H groups and the rearrangement of C-O in volatile products, which formed more H2 and CH4. These findings provide an avenue to optimize the metal impregnation conditions to produce hydrogen via biomass pyrolysis.