The impurity effect of hyperon on atomic nuclei has received a renewed interest in nuclear physics since the first experimental observation of appreciable reduction of $E2$ transition strength in low-lying states of hypernucleus $^{7}_Lambda$Li. Many more data on low-lying states of $Lambda$ hypernuclei will be measured soon for $sd$-shell nuclei, providing good opportunities to study the $Lambda$ impurity effect on nuclear low-energy excitations. We carry out a quantitative analysis of $Lambda$ hyperon impurity effect on the low-lying states of $sd$-shell nuclei at the beyond-mean-field level based on a relativistic point-coupling energy density functional (EDF), considering that the $Lambda$ hyperon is injected into the lowest positive-parity ($Lambda_s$) and negative-parity ($Lambda_p$) states. We adopt a triaxially deformed relativistic mean-field (RMF) approach for hypernuclei and calculate the $Lambda$ binding energies of hypernuclei as well as the potential energy surfaces (PESs) in $(beta, gamma)$ deformation plane. We also calculate the PESs for the $Lambda$ hypernuclei with good quantum numbers using a microscopic particle rotor model (PRM) with the same relativistic EDF. The triaxially deformed RMF approach is further applied in order to determine the parameters of a five-dimensional collective Hamiltonian (5DCH) for the collective excitations of triaxially deformed core nuclei. Taking $^{25,27}_{Lambda}$Mg and $^{31}_{Lambda}$Si as examples, we analyse the impurity effects of $Lambda_s$ and $Lambda_p$ on the low-lying states of the core nuclei...
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