A panel assembly for a vehicle door has trim panel coupled to the door and having at least a portion thereof that is spaced from the door's outboard frame. The trim panel has first and second impact areas. A plurality of energy absorbing structures is arranged in an array between the trim panel and the door frame. Each energy absorbing structure has a base end, an outboard end, and at least one sidewall. The base end is adjacent to the trim panel. The outboard end engages the vehicle door. The sidewall may include either or both of a reinforcement structure and a weakening structure that are sized and configured so that the energy absorbing structure has a predetermined range of energy absorption against the occupant during a side-impact collision. Energy absorbing structures having different energy absorption characteristics are located adjacent to the first and second impact areas.