Accelerated bridge construction (ABC) has been increasingly popular in recent decades, due to various potential advantages compared with traditional cast-in-place (CIP) construction. Grouted splice (GS) sleeve is one of the most widely adopted techniques connecting the pre-fabricated segmental bridge columns and pier footings/caps. Therefore, the behavior of segmental piers with GS should be investigated carefully, especially under earthquake events. This paper investigates the seismic performance of GS piers, considering the influence of columns heights that is scarcely incorporated in previous numerical and experimental studies. The results show that the distribution of plastic regions and hysteretic responses of GS piers are similar to the CIP ones, except for GS regions remaining elastic. The ultimate lateral forces of GS piers are increased by about 10%, since the implementation of GS improves the corresponding section stiffness. While the yield displacement of GS piers accounts over 90% of CIP ones, the displacement capacity and ductility are 40–60% lower, caused by the strain penetration of steel bars and shifting of plastic deformation into grouted beds, as well as shorter plastic regions. Additionally, investigation on coupler rigid length factor (β) proposes for the first time that this parameter could be affected by the pier height, H, and might be related to other factors. Suggestions concerning the seismic design of GS piers are finally proposed according to the above results.