This study experimentally and numerically investigated the dynamic response of high-density rigid polyurethane foam (RPUF). Firstly, drop-weight tests were conducted under three impact velocities, 2.42 m/s, 3.43 m/s, and 4.85 m/s. Test results showed that the dent depth and absorbed energy rise as impact velocity increases. Then the constitutive model for high-density RPUF based on an ideal elastoplastic constitutive model is proposed based on the measured mechanical properties, including quasi-static uniaxial compression tests, quasi-static uniaxial tensile tests, triaxial confining pressure tests, and split-Hopkinson pressure bar tests. Finally, the numerical simulation of the drop-weight tests was conducted. It was shown that the proposed dynamic constitutive model can accurately describe the dynamic performance of a high-density RPUF subjected to impact loading.