This paper proposes a self-centering rocking steel frame with column mid-height uplift (SCRSF-CMU) that exhibits high post-yield stiffness and energy dissipation capacity. The hysteretic performance of the SCRSF-CMU was investigated through cyclic loading tests. A numerical model of the SCRSF-CMU was established and validated against experimental results. Subsequently, the seismic performance of the SCRSF-CMU was compared with that of the self-centering rocking steel frame with column base uplift (SCRSF-CBU) using nonlinear time history analysis. Finally, the seismic responses of the SCRSF-CMU and SCRSF-CBU under varying earthquake intensities were analyzed using the endurance time analysis. The results indicate that the designed SCRSF-CMU demonstrates excellent lateral force resistance, energy dissipation, and self-centering capabilities. The rocking effect and the restoring force of the post-tensioned steel strands effectively controlled the residual lateral displacement of the specimens. The multi-scale numerical model of the SCRSF-CMU accurately captured its hysteretic behavior and deformation patterns. Compared to the SCRSF-CBU, the SCRSF-CMU exhibited superior rocking deformation capacity, post-yield stiffness, and hysteretic energy dissipation. Under MCE excitation, both SCRSF-CMU and SCRSF-CBU showed uniform inter-story drift distribution with minimal residual deformation, creating a satisfactory condition for the post-earthquake repair work if necessary. The high post-yield stiffness of the SCRSF-CMU was more effective in reducing both maximum and residual displacements. Endurance time analysis revealed that SCRSF-CMU and SCRSF-CBU exhibited relatively uniform inter-story drift distribution under SLE, DBE, and MCE earthquakes. Under FE excitation, the inter-story drift ratio of both structures were nearly identical; however, under DBE and MCE excitations, the maximum roof drift ratio and inter-story drift ratio of the SCRSF-CBU were larger, indicating that the SCRSF-CBU had higher deformation demands than the SCRSF-CMU.