Why it is necessary to bend our knees while jumping from a height?
As you jump off from a height and hit the floor you let your legs to bend at the knees in order to minimize the force applied to you skeletal system.
Just before you hit the floor your body has momentum and when you land you body will have no momentum.So there is a change in momentum and an impulse is necessary for this change to happen.And in this case impulse comes from the floor.
Impulse is product of force and time and in this case impulse is constant.So force would be inversely proportional to time for which it is acting on body.So if it acts for a longer time then the force will have smaller magnitude and bending the knees increases the time over which force acts, hence decreasing the magnitude of force.
If we didn't bend our knees force acts for a shorter duration and its magnitude will be high enough to break our bones.