The time-domain nodal discontinuous Galerkin (TD-DG) method is emerging as a potential wave-based method for three-dimensional (3D) room acoustics modeling, where high-order accuracy in the low frequency range, geometrical flexibility and accurate modeling of boundary conditions are of critical importance. This paper presents a formulation of broadband time-domain impedance boundary conditions of locally-reacting surfaces in the framework of the TD-DG method. The formulation is based on the approximation of the plane-wave reflection coefficient at normal incidence in the frequency domain using a sum of template rational functions, which can be directly transformed to the time-domain. The coupling of the time-domain impedance boundary condition with the DG discretization is achieved through the characteristic waves of the upwind flux along the boundary, where a series of first-order auxiliary differential equations are time-integrated in a high-order way. To verify the performance of the formulation, various numerical tests of single reflection scenarios are shown to demonstrate the cost-efficiency and memory-efficiency of high order basis functions, among which a 3D application to an impedance boundary of rigidly-backed glass-wool baffle for room acoustic purposes is presented.