The impinging jet is a complex heat and mass transfer technique that involves several process variables, such as the jet Reynolds number, impingement distance, and jet configuration. In this study, the flow characteristics of a semi-confined circular-pipe impinging jet over different Reynolds numbers and impingement distances were experimentally investigated using a two-dimensional particle image velocimetry technique. The confinement was achieved by positioning a plate parallel to the impinging plate at the nozzle exit. The time-averaged velocity field exhibited a recirculation structure that gradually shifted downstream with increasing Reynolds numbers or impingement distances. Notably, at H/d = 2, this downstream shift of the structure was accompanied by an increase in the vortex intensity. Moreover, the confined plate induced alterations in the overall flow pattern within the confined region, significantly reducing the wall jet decay rate compared with both unconfined and confined radial wall jets for H/d ≥ 3. Conversely, the confinement did not affect the expansion of the wall jet. Unlike the free (unconfined) impinging jets, the semi-confined circular-pipe impinging jet did not exhibit self-similar behavior in the conventional outer-scaled coordinates, particularly concerning the turbulence intensity and Reynolds shear stress. Finally, self-similarity in the time-averaged velocity and various turbulence parameters was achieved using the parameter scale proposed in this study, thereby obtaining the corresponding scaling laws in the wall jet region. Our study results can deepen the current understanding of the flow characteristics of semi-confined circular-pipe impinging jets and are significant for optimizing the performance and efficiency of compact electronic packaging equipment.