Prefabrication technologies are making bridge construction safer and less disruptive to the environment and traveling public, making bridge designs more constructible and, improving the quality and durability by shifting site work to a more controllable environment. Modular bridge substructures with concrete-filled steel tube (CFT) piers and composite pier caps were suggested to realize accelerated bridge construction. The precast segmental pier cap consists of a composite pier table and precast prestressed segments on the table. The pier table has embedded steel section to mitigate stress concentration at the connection by small tubes. Each bridge pier has four or six CFT columns which connect to the pier cap. Shear strength of the pier cap was obtained by extending vertical reinforcing bars from the table to the precast segment. Transverse prestressing was introduced to control tensile stresses by service loadings. Structural performance of the proposed modular system was evaluated by static tests. Design requirements of the composite pier cap were satisfied by continuous reinforcing bars and prestressing tendons. Standardized modular substructures can be effectively utilized for the fast replacement or construction of bridges.