A kind of impulsive differential system is constructed by the use of the non-smooth pendulum which is composed of a rigid wall and a pendulum. The pendulum is subjected to different types of impulsive excitations, which lead to the non-smooth homoclinic orbits. Specifically, the existence of non-smooth homoclinic orbits depends on both the classical heteroclinic orbits and type II periodic orbits. When the pendulum moves to the highest point, an impact impulsive excitation is considered. While the orbits arrived at the lowest point, other types of impulsive excitations are introduced. Hence, these non-smooth homoclinic orbits hold two classes of jump discontinuities. One is related to the direction of velocity and the other administered by the magnitude of velocity. In order to illustrate the criteria for chaotic motion of this kind of system, the well-known Melnikov theory for the smooth system is extended applying the Hamiltonian function, which reveals the effects of these impulsive excitations on the behaviors of nonlinear dynamical systems. The efficiency of the criteria for bifurcation and chaos mentioned above is verified by the phase portrait, Poincaré surface of section, and bifurcation diagrams.