The hypergolic ignition response to oxidizer droplet properties is an important consideration for oxidizer injector design in hybrid rocket motors. Hence, the present work focused on hypergolic ignition characterization as a function of droplet properties and impact dynamics for a promising propellant. The propellant for the present work consisted of rocket grade hydrogen peroxide (RGHP) as oxidizer, high-density polyethylene (HDPE) as fuel and sodium borohydride (NaBH4) as the hypergolic additive embedded in the HDPE matrix. This propellant was chosen for this detailed study since it showed promising results in prior studies, exhibiting low (<10 ms) ignition delays. For this work, in a drop-test setup, RGHP droplet diameters between 1.90±0.11 mm and 4.35±0.26 mm were dropped on the HDPE + NaBH4 fuel samples at velocities between 0.3 m/s to 1.93 m/s. The ensuing ignition event was studied using both visible and infrared high-speed imaging. Post-impact droplet parameters were determined to enable a deeper analysis of observed phenomena. While ignition delay was the focus of this work, flame spread areas and heat release were also studied. Higher impact velocities generally led to lower ignition delays while splashing oxidizer drops increased probability of larger flame areas and higher heat release. Additionally, the initial ignition/heat release event was found to originate in a small region at the thinnest area of the post-impact droplet. Surface temperature measurements were also performed using infrared imaging. The data suggested that the initial heat release was found to be likely due to RGHP-NaBH4 reaction with no contribution from RGHP decomposition. Regression and random forest machine learning analysis found ignition delay depended strongly on the minimum post-impact drop layer thickness. Based on the data analysis, a simple mathematical model was developed whose results matched experimentally observed trends. The study is expected to further understanding of the processes that control hypergolic ignition in addition to aiding rocket engineers design better oxidizer feed systems. Novelty and SignificanceThis work constitutes a novel in-depth study on the influence of drop impact properties on hypergolic ignition. Using innovative techniques, this work is the first to show the overwhelming importance of residual droplet layer thickness on ignition delay. Additionally, a simple mathematical model based on that finding performed well against experimental data which is of substantial significance, given the complex and multi-parametric nature of hypergolic ignition. Finally, the work establishes that operating in the splashing regime enhances heat release and flame spread. The candidate propellant for this work was hydrogen peroxide and high-density polyethylene with embedded NaBH4. However, the findings of this study are likely generalizable over a range of solid-liquid hypergolic propellants involving solid fuels with embedded energetic materials, of which there are many. The findings of this work can enhance understanding of hypergolic ignition in addition to aiding in better rocket injection system design.