Droplets interacting with deformable moving boundaries is ubiquitous. The flexible boundaries may dramatically affect the hydrodynamic behavior of droplets. A numerical method for simulating droplet impact on flexible substrates is developed. The effect of flexibility is investigated. To reduce the contact time and increase the remaining upward momentum in the flexible cases, the Weber number should be larger than a critical value. Moreover, the ratio of the natural frequency of the plate to that of the droplet F_{r} should approximately equal to the reciprocal of the contact time of droplets impact on the rigid surfaces (t_{ctr}) at the same We, e.g., F_{r}≈1/t_{ctr}. Only under this circumstance would the kinetic energy convert into the surface energy of the droplet and the elastic energy of the plate simultaneously, and vice versa. Moreover, based on a double spring model, we proposed scaling laws for the maximal deflection of the plate and spreading diameter of the drop. Finally, the droplet impact under different wettability is qualitatively studied. We found that the flexibility may contribute to the droplet bouncing at a smaller contact angle.