Abstract In this paper, an experimental investigation is presented on semi-rigid interior beam-to-column connections constituted by precast concrete beams supported on precast concrete column corbels and bending continuity reinforcement bars for bending negative moments. The main purpose of this paper was to analyze the influence of vertical interface grout filling between the corbel and the beam and the position of the bending continuity reinforcement bars (crossing only the column or crossing only the slab) on the behavior of this type of connection. Tests on eight specimens were performed. It was noticed that the vertical interface grout filling contributed to increase both rotational flexural stiffness and flexural strength capacity of the connections when compared to the connections without grout filling. It was also noticed that in the specimens in which the continuity bars crossed only the column, the rotational flexural stiffness was higher. For these last ones, coefficients k and β for predicting the secant stiffness by simplified expression present in Brazilian Code NBR 9062 were evaluate from experimental results. These evaluated coefficients may be regarded as indicative values for structural designers and helpful for future researches.