Impact is one of the major unsafe factors that can cause ignition and detonation of energetic materials. Existing impact sensitivity test methods have several drawbacks, such as high risk, large sample consumption, long testing cycles, high cost, and strong dependence on environmental conditions. Therefore, relying only on experiments cannot meet the need for fast assessment of impact safety. This study builds a thermal-impact coupled sensitivity dynamic model, equations, and simulation system for typical energetic materials based on chemical reaction kinetics and elasto-plastic dynamics. Numerical simulations and experimental verifications of thermal-impact coupled sensitivity were carried out. The influence of initial material temperature on impact safety was also explored. This research provides a new approach for simulating impact sensitivity and assessing the impact safety of energetic materials.