With the aim of achieving high construction efficiency, satisfactory seismic performance, and rapid restoration of structural functionality after an earthquake, this study proposes an innovative single-side yielding beam–column connection with replaceable energy dissipation bars (REDB-SYBC) for precast concrete moment-resisting frames (PCMF). During assembly, the concrete beam is attached to a column via the connection function of a non-slipping threaded sleeve assembly (NSTSA) and the support action of the shear keys (SKs) in the REDB-SYBC. This reduces the need for temporary supports for the precast beams on site. Five large-scale tests on precast concrete connections considering the partial flange effect of a slab subjected to quasi-static cyclic loading were conducted to investigate the mechanical behavior, deformation patterns, and energy dissipation (ED) capacity. The primary experimental variables included different loading protocols, restrainer forms, ED segment areas, and whether to replace the ED bars. This paper presents the assembly construction and load-carrying mechanism, and the analysis of the experimental results, including the observations, hysteretic performance, and deformation patterns. The single-side yielding deformation pattern of the REDB-SYBC connection minimized the deformation of the adjacent floor slabs and magnified the deformation of the ED bars at the bottom of a beam, thus facilitating deformation compatibility with the floor system and causing the damage to be focused on the ED bars. Consequently, the five specimens exhibited similar failure patterns via the fracture of the ED bars due to low-cycle fatigue failure, which was attributed to extensive yielding in both tension and compression. The REDB-SYBC connections exhibited a distinct beam end yielding mechanism, which demonstrated a failure pattern that was consistent with the desired “strong column and weak beam” design philosophy. The test results indicated that the proposed REDB-SYBC connection exhibited a dependable decoupled moment and shear load transfer mechanism, stable hysteretic behavior, negligible beam elongation, and reduced floor damage. The performance of a repaired specimen was nearly the same as its counterpart before repair, indicating that replacement was effective. The impact on the REDB-SYBC connection in response to a strong aftershock was also estimated by reloading an unrepaired specimen.