The invention belongs to the field of planet probes, and particularly relates to an impacting type penetrating device, comprising a shell, a mass block and an impacting hammer; a capturing and releasing sleeve is driven by a direct current motor, so as to compress a drive spring; when the drive spring is compressed to be in contact with a releasing sleeve, the impacting hammer impacts the shell under an elastic force action, and at the moment, an impact force is much larger than an external action force; meanwhile, the mass block is subjected to the action of a brake spring on the tail, the amount of movement is small, secondary impacting is generated when an initial state is recovered, and the movement of the penetrating device in a vertical direction is efficiently realized; and after the process is circulated, the penetrating device can reach a predetermined depth. A self-drive manner is adopted, the penetrating device can penetrate into a ground layer without intervention of other devices; a linear drive manner is adopted, a clamping device is not needed, and no lots of heat is generated in work; and the penetrating device is light in whole weight, works reliably and has important significance in the aspect of planet surface exploration.