A statistical-mechanical study of the effect of constraint relaxation on the minimum vertex cover problem in Erdős-Rényi random graphs is presented. Using a penalty-method formulation for constraint relaxation, typical properties of solutions, including infeasible solutions that violate the constraints, are analyzed by means of the replica method and cavity method. The problem involves a competition between reducing the number of vertices to be covered and satisfying the edge constraints. The analysis under the replica-symmetric (RS) ansatz clarifies that the competition leads to degeneracies in the vertex and edge states, which determine the quantitative properties of the system, such as the cover and penalty ratios. A precise analysis of these effects improves the accuracy of RS approximation for the minimum cover ratio in the replica symmetry breaking (RSB) region. Furthermore, the analysis based on the RS cavity method indicates that the RS/RSB boundary of the ground states with respect to the mean degree of the graphs is expanded, and the critical temperature is lowered by constraint relaxation.