A series of numerical simulations were completed to investigate the behavior of intact, fire-damaged, and Carbon Fiber-Reinforced Polymers (CFRP) retrofitted reinforced concrete (RC) bridge columns of varying sizes subjected to vehicle collisions. Three-dimensional finite element models of isolated RC columns and their foundation systems surrounded by soil volumes were developed using LS-DYNA. A comprehensive parametric study was carried out to investigate the effects of nine demand and design parameters on the performance of bridge columns. Studied parameters included: column diameter, column height, unconfined compressive strength, steel reinforcement ratio, fire duration, CFRP wrap thickness, wrapping configuration, vehicle’s mass, and vehicle’s speed. For each studied scenario, Peak Twenty-five Milli-second Moving Average (PTMSA) was employed to estimate the Equivalent Static Force (ESF) corresponding to each vehicle collision scenario. Resulting ESFs were then utilized to assess effectiveness of the current ESF approach available in the American Association of State Highway and Transportation Officials Load and Resistance Factor Design (AASHTO-LRFD) Bridge Design Specification for analyzing and helping design bridge columns under vehicle collision. Multivariate nonlinear regression analyses were used to derive an empirically based, simplified equation to predict the ESF that corresponds to a vehicle collision. Rather than constant design force, this equation established a correlation between ESF and kinetic energy, column axial capacity, and column height. Results indicated that the proposed equation is reliable and can accurately predict ESFs over a diverse range of collision scenarios that included intact, fire damaged, and CFRP retrofitted columns. To facilitate realistic implementation of the derived equation, an ESF assessment framework was also devised.