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Abstract In this work we propose the Step Matrix Multiplication based Path Integration method (SMM-PI) for nonlinear vibro-impact oscillator systems. This method allows the efficient and accurate deterministic computation of the time-dependent response probability density function by transforming the corresponding Chapman–Kolmogorov equation to a matrix–vector multiplication using high-order numerical time-stepping and interpolation methods. Additionally, the SMM-PI approach yields the computation of the joint probability distribution for response and impact velocity, as well as the time between impacts and other important characteristics. The method is applied to a nonlinear oscillator with a pair of impact barriers, and to a linear oscillator with a single barrier, providing relevant densities and analysing energy accumulation and absorption properties. We validate the results with the help of stochastic Monte-Carlo simulations and show the superior ability of the introduced formulation to compute accurate response statistics.