Low frequency cyclic loading tests were conducted on two steel fastener connection and three grouting sleeve connections of precast reinforced concrete columns. The failure patterns, hysteretic curves, skeleton curves, displacement ductility, reinforcement strain, stiffness degradation and energy dissipation capacity were analyzed. The influences of connecting type, axial compression ratio on the seismic behavior were also investigated. The results show that the seismic performance of Z-1 is better than that of Z-2. The three grouting sleeve connections can effectively transfer the load, and no slip faulting occurred in combination with surface. The hysteresis curve and energy dissipation of the Z-1 as well as the grouting sleeve connection of precast reinforced concrete columns are comparable. However, the latter is more shape-shifting. For the precast concrete columns with high axial compression ratio, the skeleton curve goes down steeper, less shape-shifting yet more power-wasting. The bearing capacity of the precast column which uses larger diameter longitudinal reinforcement grouting sleeve connection is slightly lower. In addition, as the skeleton curve goes down steeper, the stiffness decays faster and the precast column is subjected to less deformation.