I have made contact with the cervix of about half of the female partners I have had. If you reach into a gal's nookie with a finger and touch her cervix, it feels about like the end of your nose, fairly firm but yielding. Touching it with the tip of your cock feels about the same.
The reaction from the woman varies a lot. A hard tap or thump is generally pretty unpleasant for most, but I have known one ot two gals it didn't bother in the least. For the others, a light touch was tolerated very well, and often as they approached orgasm they tolerated cervical contact very well, and some even seemed to relish it.
Most of the time this only happened for me in positions that allowed really deep penetration. Doggy style is one, as is the missionary "jackhammer" position, with her legs up over your shoulders. If the gal is on top and bears down on me firmly I can usually make contact. If you let her get in that position and "do the driving" then she can adjust the depth and force of penetration to her liking.
Years ago my wife had an IUD. These had a suture (string) attached that exited the uterus through the cervix. This allowed the woman, or a clinician to feel inside to confirm that the IUD was still in place. Her IUD tail was made of polypropylene which is like rather stiff monofilament fishing line. If I hit that sucker just right end on, it was like having a little pin poked into the tip of my cock. It was like her cervix was fighting back.