The tapered pile offers sustainable use of construction materials due to its higher axial and lateral capacity and better performance owing to its geometry. This paper develops a semi-analytical solution of the vertical dynamic impedance of the tapered pile based on the dynamic Winkler theory and transfer matrix method. The accuracy and reliability of the proposed approach are verified by comparing the impedance functions of cylindrical and tapered piles obtained from the analytical solution and finite element analysis. A parametric study is performed to investigate the influence of the taper angle on the vertical dynamic impedance and resonant frequency. The results reveal that the taper angle has a significant influence on the vertical dynamic impedance, while it does not affect the oscillation period of the dynamic impedance and the resonant frequency. Besides, the vibration performance of the tapered pile is better than that of a cylindrical pile with the same volume. For a fixed-volume tapered pile, varying the pile length while keeping the pile tip diameter constant yields a better dynamic impedance than varying the pile tip diameter while keeping the pile length constant. Finally, the vertical displacement amplitude of the tapered pile decreases as the taper angle increases, especially for high-frequency excitation.