This paper presents a field test program of a large-scale soil–footing-structure system designed with a rocking foundation in a cohesive soil to examine the behaviour of the system and to provide case histories for possible performance-based seismic design of foundations. The rocking system was subjected to slow cyclic loadings at various drift ratios up to 7%. Twenty-four tests were conducted for foundations with varying initial factors of safety against the bearing failure, loading directions, rotation amplitudes, and embedment. A geotechnical investigation was carried out to determine soil properties before and after the experiments. The system performance indices, such as damping, stiffness, settlement, and re-centering capability, were quantified and compared with the published literature. Field test results showed that the strength and unit weight of soils at footing edges were increased due to rocking, for the present cohesive soil. The rocking moment capacity increased slightly with the increasing soil strength. An empirical equation for the secant stiffness was developed. The rocking system on the cohesive soil exhibited superior performance in terms of small residual settlement and large re-centering capability. Footing’s mechanical response was quantified using strain gauge readings. The footing remained elastic in tension; the transient soil–footing contact areas were estimated with strain gauges, and they agreed very well with the measured or calculated contact areas.