thud

These were but the thoughts of a second, but the voices were nearer, and I heard a dull thud far up the passage, and knew that a man had jumped down from the churchyard into the hole.

Sinclair told the B.A.R. [Bay Area Reporter] he felt the thud of the pistol on his left cheek about a 100 feet from his car, […]

Pillowcase whippings offer the look and feel of a flagellatio scene’s atmosphere, mood, and psychology while involving only very mild amounts of pain. (A pillowcase is almost all “thud” and very little “sting” in the sensations it creates.)