The concrete structures under impact loading duress may be destroyed within an extremely short period of time. The importance and complexity of exploration on the impact resistance of concrete members make this area still open for discussion. In the present study, a 3-D mesoscale numerical model was established to investigate the effect of the combination of impact mass and velocity on the mechanical behavior of reinforced concrete (RC) beams subjected to impact loadings. Heterogeneity of concrete and strain rate effects of concrete and steel bars were taken into account. Furthermore, nonlinear interaction between the concrete and steel bars was considered herein. Results from macroscale and mesoscale simulation were compared with the available physical tests, indicating that the mesoscale numerical model can better represent the influence of heterogeneity of concrete on the mechanical behavior of RC beams. Five different impact energy levels were involved to study the effect of the combination of impact mass and velocity on the impact resistance of RC beams. At last, the residual bearing capacity and natural frequency of impacted RC beams were numerically calculated and their relationship was discussed. It is indicated that the deformation of RC beams is influenced strongly by the impulse, which increases with the increasing impact mass at identical impact energy. Besides, the failure mode of RC beams turns from shear-dominant failure mode to bending shear failure mode with the increase of impact mass, accompanied by the increase of energy dissipation of steel bars and the whole member. Despite this, in the present work, the combination of the impact mass and velocity had little influence on the damage extent (based on the performance) of the RC beams. Moreover, an empirical relationship between the residual bearing capacity and the natural frequency of the impacted RC beams was established as a rough reference for damage evaluation in engineering practice.