Aiming at the problems of complicated beam-column connection structure and low construction efficiency in prefabricated concrete structures. Designed and developed a new type of prefabricated steel-reinforced concrete column to steel beam composite joint, and the influence of different beam end connection methods on the seismic performance of the new joint was studied by the pseudo-static test. The results show that the specimens with different beam end connections are all flexural failure, and the failure location is at the flange connecting plate, which realizes the effect of the plastic hinge moving out near the joint region. The strain of the flange connection plate and concrete is greatly affected by beam end connection mode, while the effect to strain of the steel beam web, H-shaped steel skeleton, and longitudinal reinforcement are relatively small. The bolt-weld hybrid joint and bolt joint belong to semi-rigid connections, while the weld joint belongs to rigid connections. The hysteretic behavior of each specimen is good, and the degradation performance of bearing capacity and stiffness is stable. The ductility coefficient is 4.03-11.84, and the equivalent viscous damping coefficient is 0.24-0.36. This type of joint has good bearing capacity and seismic performance, which can meet the existing seismic design requirements.