This study proposes a novel corrugated steel fender system to protect bridge piers against truck collisions. In particular, the impact energy is mainly absorbed through the deformation of corrugated steel webs in the fender. Pendulum impact tests are conducted to demonstrate the benefits of installing the corrugated steel web to increase the fender stiffness, engage more lateral displacement, and dissipate considerable impact energy. Advanced finite element (FE) models are established using the software LS-DYNA and verified against experimental results of the pendulum impact test. Modeling considerations are implemented into developing a high-resolution FE model to simulate full-scale truck–fender–bridge collisions, which discloses the fender’s effectiveness in protecting the bridge pier. The proposed fender system can mitigate the post-impact damage to the bridge pier by reducing its peak impact force, lateral displacement, and bending moment at the base. Moreover, parametric analyses are performed to investigate the effects of different fender design variables on the peak impact force and absorbed impact energy. Among various design parameters, the thicknesses of the corrugated steel web and surface steel plate are the predominant ones. Finally, an optimal fender design criteria is proposed to simultaneously minimize the impact damage to the bridge pier and the truck.