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Showing content from https://docs.unity3d.com/Manual/sprite/../../ScriptReference/Collider.OnCollisionEnter.html below:

Unity - Scripting API: Collider.OnCollisionEnter(Collision)

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OnCollisionEnter is called when this collider/rigidbody has begun touching another rigidbody/collider.

In contrast to OnTriggerEnter, OnCollisionEnter is passed the Collision class and not a Collider. The Collision class contains information, for example, about contact points and impact velocity. Notes: Collision events are only sent if one of the colliders also has a non-kinematic rigidbody attached. Collision events will be sent to disabled MonoBehaviours, to allow enabling Behaviours in response to collisions.

using UnityEngine;
using System.Collections;
public class ExampleClass : MonoBehaviour
{
    AudioSource audioSource;
    void Start()
    {
        audioSource = GetComponent<AudioSource>();
    }
    void OnCollisionEnter(Collision collision)
    {
        foreach (ContactPoint contact in collision.contacts)
        {
            Debug.DrawRay(contact.point, contact.normal, Color.white);
        }
        if (collision.relativeVelocity.magnitude > 2)
            audioSource.Play();
    }
}

Another example:

// A grenade
// - instantiates an explosion Prefab when hitting a surface
// - then destroys itself
using UnityEngine;
using System.Collections;
public class ExampleClass : MonoBehaviour
{
    public GameObject explosionPrefab;
    void OnCollisionEnter(Collision collision)
    {
        ContactPoint contact = collision.contacts[0];
        Quaternion rotation = Quaternion.FromToRotation(Vector3.up, contact.normal);
        Vector3 position = contact.point;
        Instantiate(explosionPrefab, position, rotation);
        Destroy(gameObject);
    }
}

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