Short fiber-reinforced polymer (SFRP) has been extensively applied in structural engineering due to its exceptional specific strength and superior mechanical properties. Its mechanical behavior under medium strain rate conditions has become a key focus of ongoing research. A comprehensive understanding of the response characteristics and underlying mechanisms under such conditions is of critical importance for both theoretical development and practical engineering applications. This study proposes an innovative three-dimensional (3D) multiscale constitutive model that comprehensively integrates mesoscopic fiber-matrix interface effects and pore characteristics. To systematically investigate the dynamic response and damage evolution of SFRP under medium strain rate conditions, 3D-printed SFRP porous structures with volume fractions of 25%, 35%, and 45% are designed and subjected to drop hammer impact experiments combined with multiscale numerical simulations. The experimental and simulation results demonstrate that, for specimens with a 25% volume fraction, the strain rate strengthening effect is the primary contributor to the increase in peak stress. In contrast, for specimens with a 45% volume fraction, the interaction between damage evolution and strain rate strengthening leads to a more complex stress-strain response. The specific energy absorption (SEA) of 25% volume fraction specimens increases markedly with increasing strain rate. However, for specimens with 35% and 45% volume fractions, the competition between these two mechanisms results in non-monotonic variations in energy absorption efficiency (EAE). The dominant failure mode under impact loading is shear-dominated compression, with damage evolution becoming increasingly complex as the fiber volume fraction increases. Furthermore, the damage characteristics transition from fiber pullout and matrix folding at lower volume fractions to the coexistence of brittle and ductile behaviors at higher volume fractions. The numerical simulations exhibit strong agreement with the experimental data. Multi-directional cross-sectional analysis further indicates that the initiation and propagation of shear bands are the principal drivers of structural instability. This study offers a robust theoretical foundation for the impact-resistant design and dynamic performance optimization of 3D-printed short fiber-reinforced polymer (SFRP) porous structures.