This study investigated the impact of axial load on the dynamic response of reinforced concrete (RC) members to asymmetrical lateral impact loads. A series of asymmetrical-span impact tests were conducted on circular and square RC members with and without Carbon Fiber Reinforced Polymers (CFRP) while varying the axial compression ratios. The impact process was simulated using ABAQUS software, and the time history curves of deflection and impact were measured. The study found that specific impact loads caused bending and shearing failures. The axial compression ratio ranged from 0.05 to 0.13 when the impact curve reached its maximum deflection before the component’s impact resistance decreased. Analysis of the impact point and inclined crack location revealed that axial load affects the maximum local concrete. The speed of inclined crack penetration and inclined cracks take longer to form, with weaker resistance to damage to local concrete when the axial compression ratio is between 0.05 and 0.13. When the axial compression ratio is greater than 0.13, inclined cracks form sooner with more brittle and severe damage to the impact point’s concrete. The study also identified key parameters affecting the dynamic response of RC members, including impact height, CFRP layer thickness, axial force, and impact location. Thicker CFRP layers in RC can improve impact resistance, especially when the impact location is farther from the center. However, there is a limit to the impact of axial force on this resistance.