A voronoi user material subroutine (VUMAT) was developed using the three‐dimensional Hashin damage criterion and exponential nonlinear damage evolution method. An interlayer damage model based on the quadratic nominal stress (QUADS) criterion and B‐K fracture criterion was introduced, and a finite element model of Z‐pin reinforced composite laminates under low‐velocity impact was established. The low‐velocity impact behavior of Z‐pin reinforced composite laminates with different impact velocities (0.6 m/s, 0.4 m/s, and 0.3 m/s), different layup forms ([0°/90°]4 and [0°/45°/90°/−45°]2), and different Z‐pin spacing (4 mm, 8 mm, and 16 mm) was studied using ABAQUS. The results indicate that different layup forms have little effect on the low‐velocity impact behavior of Z‐pin reinforced composite laminates. The Z‐pin spacing has a significant influence on the low‐velocity impact behavior of Z‐pin reinforced composite laminates. When the impact velocity is 0.4 m/s, the specific energy absorption of composite laminates with Z‐pin spacing of 16 mm is 85.93% and 87.7% lower than that of composite laminates with Z‐pin spacing of 4 mm and 8 mm. As the Z‐pin spacing decreases (Z‐pin density increases), the impact resistance of Z‐pin reinforced composite laminates first increases and then decreases.Highlights• The low‐velocity impact of Z‐pin reinforced composite laminates was studied.• Analyzed the effect of layup forms of laminates on their impact behavior.• Explored the influence mechanism of Z‐pin spacing on the impact behavior.• Studied the energy absorption of different Z‐pin spacing under impact velocity.