The Samsung Galaxy S6 Active is essentially a rugged version of the Samsung Galaxy 6 with a better battery, so I think that would be well suited to your needs. A review of the S6 Active is here.
If that is above your price range, apparently CAT makes phones now: http://www.catphones.com/ The S50 actually seems like a decent phone at a reasonable price, so you should check that out. Caterpillar created a promotional video as part of their "BuiltForIt" campaign that featured the phone.
Additionally, you could buy an Otterbox for a common phone and though it would be clunky, it would be able to withstand pretty much anything. I also have heard that Griffin makes very high quality phone cases.
