Based on a low-velocity impact test, four main modes of low-velocity impact damage, including matrix cracking, delaminating, fiber failure and matrix crushing, are taken into account. By using the proper failure criterion, the low-velocity impact damage of z-pin reinforced laminates can be realized. The results of FEM simulation, which indicate that a z-pin makes the area of delamination reduced by approximately 50%, are in good agreement with the experimental C-scan results.