A detonation timing apparatus and method of determining a detonation time is disclosed. The detonation timing apparatus comprises an initiation sensor, at least one impact sensor, and at least one controller. The at least one controller may be configured for sensing an initiation event associated with the initiation sensor and sensing an impact event associated with the at least one impact sensor. The at least one controller is further configured for determining an impact velocity estimate proportional to a temporal difference between the initiation event and the impact event, using the impact velocity estimate to determine the detonation delay, and generating the detonation event at the detonation delay after the impact event. The timing apparatus and method of determining a detonation time may be incorporated in a fuze, which may be incorporated in an explosive projectile.