To examine the seismic behavior of semi-rigid joint of the precast concrete frame, a type of beam-column joint connected by end-plate and bolts is proposed. The joints are designed and the quasi-static test is carried out, and compared with the test of cast-in-place concrete frame joint. The failure mode, bearing capacity, energy dissipation capacity and displacement ductility of the joints are investigated. The finite element program is used to simulate the mechanical performance of test joints, and the accuracy of the model is verified. The results show that the cast-in-place joints dissipate energy by the plastic hinge at the end of the beam, and the section at the end of the beam is damaged by bending and shearing. The cracks are found in both the column and the beam. The semi-rigid joint connected by end-plate and bolts mainly dissipates energy through the relative rotation between the beam and the column. Its failure is due to the insufficient strength of the concrete at the end of beam, but the column and its internal reinforcement remain intact. Consequently, the joint can be quickly repaired by replacing high-strength bolts and precast beam. The joint connected by end-plate and bolts can meet the requirements of energy dissipation and ductility of reinforced concrete structure. Whether the reinforcement and embedded end-plate in the beam can work together with concrete has great influence on the mechanical performance of the joint.