In the present study, the pullout capacity models were developed to derive analytical expressions for the minimum required depths of embedment for conventional and two recently published schemes of connection for circular and square concrete-filled steel tubular (CFST) columns. The models were developed by equating the pullout strength of the tube with the pullout capacity of the reinforced concrete (RC) footing. The pullout capacity of the RC footing was a function of the strength of cement grout, footing concrete, and RC footing reinforcement. The analytical expressions derived for the minimum required depths of embedment were utilized to deduce limit state functions. These limit state functions were then employed for the reliability calculations by means of the Monte Carlo Simulation (MCS) technique. The reliability calculations provide optimum embedment depths for CFST columns for the given reliability level. It was shown for the required reliability index of 3.0, the requirements of nominal embedment depth for the second column-to-foundation connecting scheme for circular and square CFST columns are 37.3% and 45.2% less than their corresponding first schemes of connection. This outcome proves the superiority of the second scheme (as a result of mechanical interlocking) over the first scheme. A few parametric studies were also conducted to obtain results of practical value.