This study investigates the behavior of hybrid beam-column connections with numerous detailing methods to be incorporated into precast concrete moment-resisting frames under simulated reversed cyclic loading, and ultimately develops a design procedure. Seismic performance of moment-resisting precast concrete beam-column connections was investigated through simulated reversed cyclic load tests. In addition, nonlinear finite element analysis (FEA) of typical monolithic and precast concrete connections was carried out using a modified concrete damage plasticity model. Good agreement was achieved between experimental and numerical results, which indicates that the FEA model is capable of capturing failure modes of the investigated precast concrete connections. Simple detailing modifications resulted in major improvements in the performance of connections in terms of load-displacement curves, stiffness, and energy dissipation. Finally, a design procedure was developed for the investigated connections based on failure modes and investigated limit states.