In this paper, we report the first attempt to quantify impact sensitivity using the second-order incremental approach based on the structural features of explosives. It has been found that impact height (h50) can be expressed via a multiplicative incremental exponential form, in which the exponents are characteristic coefficients of structural increments multiplied by their numbers in the molecule. The method was developed on a large array of experimental data (450 molecules and salts) of different energetic materials, namely, nitro compounds, peroxides, nitrogen-rich salts, heterocycles, etc., while testing of the model was performed for 170 compounds. The results demonstrate a noticeable correlation with the experimental h50 values. Thus, the corresponding R2 and RMSE for the training and test sets are 0.56 (12.5 J) and 0.63 (18.8 J), respectively. In this work, we use 53 individual structural increments, but their number can be extended, and the corresponding coefficients can be refined; this allows for increasing the prediction accuracy on-the-fly. The calculation algorithm is discussed, and the corresponding examples are presented. The performed machine-based regression analysis using genetic function approximation, multiple linear regression, and artificial neural network has proven the reasonability and informativity of the proposed incremental theory. Thus, the developed approach significantly extends our understanding of the impact sensitivity phenomenon and translates it into the category of one that can be calculated by a pocket calculator.