Recent studies of impact craters formed on low-density asteroids led to the proposal of a new crater formation mechanism dominated by pore collapse and compaction. Thus, it is important to study the crater formation process associated with the projectile penetration on porous cohesive targets. Laboratory impact experiments were conducted for a porous gypsum target with porosity of 50%, and flash X-rays were used to visualize the interior of the target for in situ observation of crater formation and projectile penetration. Spherical projectiles made of three different materials, stainless steel, aluminum, and nylon were impacted at 1.9–2.4km/s (low-velocity impact) and 5.6–6.4km/s (high-velocity impact) by using a two-stage light-gas gun. Two imaging plates were used to take two X-ray images at a different delay time from the impact moment for one shot. Two types of crater cavity shape were found on the porous gypsum target, that is, penetration holes or hemispherical cavities, depending on the projectile size and density, and the impact velocity. The drag coefficient of a projectile was determined by measuring the penetration depth changing with time, and we found that it was closely related to the crater cavity shape: it was about 0.9 for a penetration hole, while it was 2.3–3.9 for a hemispherical cavity. This large value for a hemispherical cavity could have been caused by the deformation or the disruption of the projectile. The cratering efficiency, ρtVcr(t)/mp, was found to have a power law relationship to the scaling time for crater growth, πt=vit/rp, where vi is the impact velocity, rp is the projectile radius, and t is the time after the impact, and all data for stainless steel and aluminum projectiles merged completely and could be fitted by a power-law equation of ρtVcr(t)/mp=2.69×10-1πt1.10. Furthermore, the scaled crater volume, πV=Vcr_finalρt/mp, where Vcr_final is the final crater cavity volume, ρt is the target density, and mp is the projectile mass, was successfully fitted by a power law equation when another scaling parameter was used for the crater formation in strength regime, πY=Yt/ρtvi2, where Yt is the target material strength, as follows: πV=1.69×10-1πY-0.51. As a result, the crater formed on porous gypsum was revealed to be more than one order of magnitude smaller than that formed on basalt. Based on our experimental results, which visualize how crater cavities on porous cohesive materials grow with projectile penetration, we are able to discuss compression and excavation processes during crater formation quantitatively. This observation enables us to investigate and revise numerical models and crater scaling laws for high-velocity impacts into porous cohesive materials.