On the basis of the dimensional analysis of concrete penetration by Teland et al., the dimensionless impact index is used to fit the eigenfunction of the relationship between dimensionless penetration depth and impact index by referring to 99 groups of large-scale model penetration test data of concrete. According to the prototype test, the projectile mass correction coefficient is fitted. To meet the reliability design requirements of protective structure, a new general penetration calculation formula is proposed. Based on the selected prototype test data or large-scale model penetration test data (including 62 groups of concrete, 50 groups of reinforced concrete, 20 groups of fiber reinforced concrete, 18 groups of rock and 63 groups of soil), the rationality of the penetration formula proposed here is analyzed. The results show that: the calculation results of this formula are in good agreement with the experimental values, and the overall level, reliability and reasonable rate are better than those of other empirical formula such as Young’s formula, meeting the design and calculation requirements of protective structure. In addition, the research contents in the next step are put forward.