•The impact test results of the scaled model corresponding to the finite element model were used to verify the accuracy of the adopted material models and contact relationships.•Based on the spatial complexity of urban overpasses, the dynamic responses and failure mode of the full-bridge model under non-bottom impact were numerically simulated.•Four comparative models were established to study the effect of the bridge model parameters on impact responses. Urban viaducts are likely to be subjected to non-ground-level vehicle collisions during their service life period. However, current research primarily focus on vehicle impacts on the bottom of bridge piers. In this research, a full-bridge scale model impact test was conducted to validate the accuracy of the finite element (FE) model. Then, LS-DYNA is used to establish refined vehicle-bridge collision FE models. The dynamic responses and failure mode of the pier impacted by the non-bottom vehicle are investigated. Besides, the effects of bridge structure spatial stiffness, superstructure mass, and double-column structure on the impact responses of bridges are analyzed. The results show that vehicle collisions are characterized by a continuous impact action involving multiple components. The damage to the full bridge model is concentrated in the directly impacted double-column pier, where the head-on column sustains three-point bending damage, the indirectly impacted column sustains bending damage at the top and bottom, and the cover beam sustains tensile shear damage. The non-bottom impact significantly increases displacements and bending moments of the pier while causing a substantial decrease in bottom shear. The impact responses of the pier are greatly influenced by the superstructure mass and double-column structure, while the spatial stiffness of the bridge has minimal affection.