Design/methodology/approach Soft lubrication model is introduced to theoretically study a thin viscous film that separates the sphere and substrate. By solving the contact region of the lubricant film, the pressure field and force generated by the squeezing effect of the lubricant acting on the sphere are obtained. The effects of the Reynolds number on the impact-rebound process were investigated by solving govern equations of the system. Findings Under low Reynolds number conditions, the lubricating film has a greater film thickness during the spreading and retraction stages, which enables better separation and protection between the sphere and substrate. However, during the adhesion stage, the lubricating film exhibited a stronger adsorption effect, causing the sphere to undergo greater tensile deformation. Consequently, the rebound velocity of the sphere was smaller, and more energy dissipation occurred. Originality/value This work is an original and valuable reference for the analysis of an elastic sphere normally impacting a rigid substrate with lubricant. The effects of the Reynolds number on the sphere dynamic behavior, sphere deformation and lubricant film profile were obtained, which can serve as a reference for the selection of lubricants in similar industrial applications. Peer review The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-03-2025-0115/