Abstract: This study proposes a beam-end connection for a precast reinforced concrete (PRC) beam used in CFST bridge pier systems, in which the PRC beam is connected to CFST through a partial steel encasing joint and a small amount of cast-in-place concrete. Four prefabricated joint specimens were tested under seismic loading, with key parameters of the length of the partial steel encasing joint and the reinforcement ratio of the PRC beam. The failure mode, bearing capacity, deformation capacity, stiffness degradation and energy dissipation capacity of the joint specimens were analyzed in detail, and proposed were the preliminary design suggestions related to the anchorage form of outstretched steel bars, the steel encasement length and the arrangement principle of the shear connectors. The results show that there are two main failure modes of the joints proposed: the bending failure outside the connection area and the interfacial shear failure between the steel encasement and the inner concrete. The former could give full play to the bending performance of the PRC beam with relatively full hysteretic curves, while the latter suffered an obvious pull-out effect from the encasement with pinched hysteretic curves. The normal embedment effect and tangential interfacial shear between the steel encasement and the inner concrete are key factors affecting the joint failure mode. The performance under the forward and reverse loading is different due to the asymmetrical structural details of the steel encasement, and increasing the steel encasement length can significantly improve the seismic performance of the specimens.