To develop an effective pile foundation scheme for earthquake-prone regions, this study introduces a novel pile structure that integrates ultra-high-performance concrete (UHPC) with traditional prestressed high-strength concrete (PHC) pipe piles. The research focuses on assessing the impact of various connection forms between the pile and cap beam on the seismic performance of bridge substructures. Two 1/3-scale specimens were meticulously designed and tested: one featuring a cast-in-place (CIP) connection and the other incorporating precast assembly (PA) connection between the pipe pile and cap beam. Cyclic loading tests were conducted to evaluate the failure mode, lateral capacity, ductility, energy dissipation ability, residual displacement, rebar strain, curvature distribution and rotation of UHPC pipe piles with the two connection forms. The results indicate that the specimen with a CIP connection exhibits a higher horizontal load capacity and stronger energy dissipation ability, while the specimen with the PA connection displays superior self-centering ability, increased ductility, and causes less damage to the cap beam. Finally, finite element models were developed to analyze the effects of design parameters on the seismic performance of the pile connected by the two methods. This research may provide valuable design guidance for incorporating UHPC in pile foundations. To facilitate its practical implementation in engineering projects, further theoretical and experimental research is recommended in this paper.