By simulating the pile-soil interaction and hydrodynamic pressure with the lumped parameter model and added mass method, respectively, this paper uses the contact algorithm to simulate the collision between ship and wharf, so as to analyze the dynamic damage to the all-vertical-piled wharf under a ships impact load. The results indicate that the hydrodynamic pressure on the piles has almost no influence on the collision force, wharf displacement, and damage index of the pile, which is neglectable, while the pile-soil interaction has a non-negligible influence on the wharf displacement and damage index of the pile. In addition, this study investigates the influences of different impact positions, impact angles, and impact speeds on the damage to the wharf structure. The results indicate that the collision position at the edge of the wharf and the impact angle of 90° (perpendicular to the wharf) are detrimental to the wharf, and a faster impact speed means more serious damage to the wharf.