The amorphous topological states, which are independent of the specific spatial distribution of the microscopic constructions, have gained much attention. Recently, higher-order topological insulators, which are a new class of topological phases of matter, have been proposed in amorphous systems. Here, we propose a densitydriven higher-order topological phase transition in two-dimensional amorphous system. We demonstrate that the amorphous system hosts a topological trivial phase at low density. With the increase in the density of lattice sites, the topological trivial phase converts to a higher-order topological phase characterized by quantized quadrupole moment and the existence of the topological corner states. Furthermore, we confirm that the densitydriven higher-order topological phase transition is size-dependent. In addition, our results should be general and equally applicable to three-dimensional amorphous systems. Our findings point has greatly enriched the study of higher-order topological states in amorphous systems.