Grazing which can induce many nonclassical bifurcations, is a special dynamic phenomenon in some non-smooth dynamical systems such as vibro-impact systems with clearance. In this paper, the existence and stability of the periodic orbits induced by the grazing bifurcation in a cantilever beam system with impacts are uncovered. Firstly, the Poincaré mapping of the system is obtained by the discontinuous mapping method. Secondly, the periodic orbits are determined by means of shooting method, and Jacobian matrix in the case of non-impact is obtained subsequently. Thirdly, for various impacting patterns, a combination of inhomogeneous equations and inequations is obtained to determine the existence of period orbits after grazing. Furthermore, the stability criterion of the grazing-induced periodic orbits is given. Numerical results verify the effectiveness of theoretical analysis. What’s more, we also give a conjecture about the relationship between eigenvalues and the type of periodic orbits when eigenvalues are imaginary numbers.