In this paper, a simplified mathematical procedure is presented to incorporate nonlinearity in soil material to predict the deceleration time history, penetration depth and other relevant parameters for normal impact of missiles into soil targets. Numerical method is employed for these predictions. The results of the study are compared with experimental observations and predictions available in the literature. A good agreement is found with experimental observations and an improvement is observed with existing predictions. A comparison is also made with linear soil model. Some parametric studies are also carried out to obtain the results of practical interest.