Abstract: To investigate a simplified calculation method for the restoring force model of precast reinforced concrete (RC) bridge piers with hybrid connections of grouted sleeves and mortise-tenon joints, quasi-static tests were conducted on three specimens: a monolithic cast-in-place pier (SZT-1), a single-segment precast pier (SG-1), and a double-segment precast pier (SGT-1). The experimental results indicate that the failure modes and seismic performance of the SGT-1 specimen closely resemble those of the SG-1 specimen. Furthermore, the hybrid-connected precast piers exhibit superior seismic performance compared to the monolithic SZT-1 specimen. Subsequently, an experimentally validated finite-element model was employed to perform parametric analyses. This study systematically investigated the influence of various parameters on the seismic performance of the piers, including the axial compression ratio, slenderness ratio, longitudinal reinforcement ratio, concrete strength, and the dimensions and materials of the protruding tenons and steel pipes. Based on these findings, recommended values for key design parameters suitable for practical engineering applications are proposed. Additionally, a skeleton curve eigenvalue calculation formula and a restoring force model were developed. These proposed theoretical models can be effectively utilized for the elastic-plastic analysis and calculation of hybrid-connected precast bridge piers, providing a reliable basis for their seismic design and performance evaluation.