A complete contact cycle of an elastoplastic sphere consists of loading and unloading phases. The loading phase may fall into three sequential regimes: elastic, mixed elastic–plastic, and fully plastic. In this paper, we distinguish the transition points among the three regimes via the material hardness and a dimensionless geometric parameter corresponding to the onset of the fully plastic regime. Based on Johnson’s simplified spherical expansion model, together with the well-supported force–indentation relationships in the elastic and fully plastic regimes, we build an analytical approximation for the mixed elastic–plastic regime by enforcing the C1 continuity of a loading force–indentation curve. Unloading responses of the elastoplastic sphere are characterized by an elastic force–indentation relation, which has a Hertzian-type form but takes into account the effects of the strain hardening that occurs in the mixed elastic–plastic regime. We validate the model by comparing with existing quasi-static and impact experiments and show that the model can precisely capture the force–indentation responses. Further validation is performed by employing the proposed compliance model to investigate the coefficient of restitution (COR). We achieve agreement between our numerical results and the experimental data reported in other studies. Particularly, we find that the COR is inversely proportional to the impacting velocity with an exponent equal to 1/6, instead of 1/4 reported by many other models.