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Abstract This paper is devoted to studying the approximate controllability for second-order impulsive differential inclusions with infinite delay. For proving the main results, we use the results related to the cosine and sine function of operators, Martelli’s fixed point theorem, and the results when combined with the properties of differential inclusions. Firstly, we prove the approximate controllability for second-order impulsive differential inclusions with initial conditions. Then, we extend the discussion to the second-order impulsive system with nonlocal conditions. Finally, we provide an example for the illustration of the obtained theoretical results.