Present study highlights the effect of foundation liquefiable soil on the response of overlying earthen embankment. Numerical modeling has been done using finite element method-based PLAXIS 2D program considering the plane strain condition. For simulating the behavior of liquefaction of foundation soil, an effective stress-based elasto-plastic advanced constitutive model UBC3D-PLM has been used. A wide range of relative density (30, 40, 50, and 60%) of foundation liquefiable layer has been considered for parametric variation under dynamic excitation. A proper calibration methodology has been followed for different relative densities of liquefiable soil. Calibration in terms of liquefaction strength curves and comparison with the laboratory test results from the literature are considered in this study. Dynamic response of embankment under the application of harmonic loading has been studied. The effect of maximum cyclic loading amplitude (PGACYL) has also been explored in the present study. It can be seen with the increase in relative density of foundation liquefiable soil, embankment crest settlement reduces. Also, with increase in relative density of foundation soil, the excess pore pressure has also been reduced in case of PGACYL = 0.1g. With the increase in PGACYL., embankment settlement as well as excess pore pressure in the foundation soil increases. Moreover, it has also been observed that with increase in relative density of foundation soil, shear strain of foundation soil reduces. The reduction is more observed in case of low amplitude of cyclic loading. Almost 60%, 96%, and 97.3% reduction of shear strain value can be observed in case of 40%, 50%, and 60% relative density of foundation soil with respect to 30% relative density of foundation soil. Study reports the input parameters for UBC3D-PLM material model for a wide range of soil condition (loose to medium dense) which can be useful for studying the dynamic behavior of different geotechnical structures resting on liquefiable deposit.