Stress the muscles, not the bones.
How? Minimize internal lever arms (i.e. the lever arms of the muscles) and maximize the lever arm of the external force. That way the external force does not need to be big. For example land on the toes, in a lunge position with a strongly flexed knee to stress the knee extensors. Land on the heel with a strongly flexed hip to stress the hip extensors.
Just like a deep squat does not need as much load as a half squat.
That said, most people just need to cut down the volume of high impact jumping and sprinting. I believe that jumping and running (in most cases) should to be stripped down to the bare necessities.