Hollow concrete columns (HCC) have been widely used in accelerated bridge construction worldwide. The column-foundation connections are vital in such precast systems to ensure seismic resilience. In this paper, a novel HCC-foundation connection using UHPC and rebar lap splices was proposed, which could facilitate the construction process. Cyclic tests were carried out on four specimens to examine their seismic performance. Test results showed that the proposed connections exhibited satisfying capacities, ductility, and energy dissipation comparable to monolithic connections under lateral cyclic loads. The use of a precast UHPC shell did not deteriorate the performance of the connection with no interface separation observed. The decrease in joint height would, however, bring about anchor rebar slippage and reduce energy dissipation. A validated fiber element model of the specimens was established for efficient seismic modeling of precast systems with the proposed connection in actual projects. Force transfer mechanisms and design methods for the connections were further deduced. The proposed connection has been verified to be comparable to cast-in-place connections and is thus suitable for use in precast column-foundation connections. Several design recommendations were derived for engineering reference.