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I'm playing a game right now where I moved my tau skimmer onto a piece of impassible terrain that it can be placed on without falling. This makes it so his orks can't assault me. But even to me this seems rather unfair to him. Is there something he can do about it or some penalty for me doing that other than a dangerous terrain test? Or am I forgetting something? Or is this completely legal and there's nothing he can do about it?

Sounds right to me, his best bet at that point would be to get his orks to shoot at your rear armour and glance it to death with ork shooting. GL

Alternately, he could just move to have maximum cover or blocking LoS to that spot, and just out-survive it.

It is RAW but it really depends on the physical terrain. For most of my games, we use really uneven terrain to represent impassable. However, there are times when we have used a flat plateau as counts-as impassable. In these situations, it can be rather poor form to exploit that rule.

But if all your opponents have no qualms about you being fully RAW, I'd say go ahead. I doubt this is acceptable in my circle so I wouldn't.

A pregame terrain discussion may help your opponent decide if he is all right with it. Not only skimmers, but jump and jet pack troops have the same rule.

Each Unit Type has advantages and disadvantages when it comes to mobility and the terrain itself, this is a core element to how the model is designed to function on the Table Top. There is no reason to conclude that the Author of the Codex did not understand just what the Skimmer type of vehicle is capable of doing, particularly when it is in a Codex filled with other Unit Types which have the exact same capabilities. Nor is there a reason to conclude that we should be restricting a Models mobility simply on the grounds that it is capable of doing something that other Unit Types are not. It feels as if we would just be complaining about the Tactics that can be utilized by such an Army, instead of simply dealing with them.

However, if your group finds it to be cheap there are ways to restrict it within the rules themselves:
Mark them as Impassable and Dangerous every time - Models don't often like standing in the fire
Make them larger - Either miss a turn firing weapons, or too large to skimmer up on top of to start with
Put Ruins on top - Rusted out beams can't support skimmer's weight