I'm no expert in physics and I only know so much about biology, but I will give it my best shot. Take what I say here with a grain of salt. I don't think that a soft skeleton would absorb the force of impact, but since it is more flexible, I believe it would absorb less and radiate the energy off by bending. A calcified skeleton is flexible, but only to some degree, which is why we don't break out legs when jumping from a fairly high elevation. But the hard bones only have so much give before they snap. So a 'soft-skeletonned' animal will still die due to the force of impact on its organs, but its skeleton would likely stay more intact. This is only taking into account if the animal were dropped from a lethal height.