Investigating the seismic behavior of precast concrete bridge piers is crucial in the design process due to the complex stress distribution in the connecting components. To demonstrate the seismic behavior of precast concrete bridge piers with hybrid joint connections, three bridge piers were designed with a scaling ratio of 1:8 and then tested under low cyclic loading conditions. The tests involved varying shapes of steel tube connection keys as parameters. This study involved examining failure modes and crack development, as well as analyzing the hysteretic performance, deformation capacity, energy dissipation, and stiffness degradation of the specimens. Furthermore, a finite element model was developed using ABAQUS, and the validity of the modeling approach suggested in this study was confirmed through tests. The results indicate that the precast piers exhibit reduced concrete damage at the joints. The enhanced strength of the joints is attributed to the incorporation of steel tube connection keys. The circular steel tube connection key integrated into the precast bridge pier offers a superior bearing capacity, energy dissipation, and stiffness degradation compared to the cross-shaped steel tube connection key. The presence of the built-in circular steel tube connection key in the precast bridge pier suggests that it complies with the seismic structural measures and is consistent with the design principle of “strong joint and weak member”.