The hydrodynamics of a droplet impacting solid surface at low Weber number has been studied comprehensively by using a high-speed camera and a theoretical approach based on the improved models of surface energy and viscous dissipation. The impact process is elucidated by analyzing quantitatively the interface evolution of droplet impact solid surface, and the effects of glycerol solution concentration, surfactant concentration, impact velocity, and wall contact angle on spreading width and rebounding height are extensively investigated, respectively. Four stages, namely, approaching, spreading, retracting and stabilizing stages are identified visually during a complete droplet collision. Increasing the concentration of glycerol solution can simultaneously reduce droplet spreading width and rebounding height. However, improving surfactant concentration or enhancing impact velocity can promote droplet spread but hinder its rebound. Decreasing wall contact angle is beneficial to droplet propagation, whereas disadvantageous to droplet rebound. Both surface energy and viscous dissipation are accurately considered based on a real geometric shape and an improved spreading time at the maximum spreading, and thus a novel theoretical formula for the maximum spreading coefficient of droplet impacting at low Weber number has been developed and proved to have a higher prediction accuracy than the previous models under present experimental conditions.