Tests of three RC beams under impact loading and one under static loadings were carried out with the shear pan ratio of 3.58. The failure mechanism and the influence of impact energy on residual deflection of the RC beams under impact loading were investigated. The test results showed that cracks of the flexural beams under static loading were mainly attributed by the bending-shear failure mode under low-velocity impact, while they changed to the shear failure mode under high-velocity impact. The time history of impact loading, support reaction force, mid-span deflection and reinforcement strain in mid-span were recorded and presented. Based on the analysis of the time history curves, the failure mechanism of RC beams was discussed. The failure process under impact loading can be divided into partial response phase and overall response phase. Moreover, the impact test results in the existing related papers were collected, and based on the comparison of the relationship between residual deflection and impact energy, the applicability of empirical formula to estimate residual deflection under impact loadings was discussed.