In　this　study,　a　semi-rigid　joint　of　pier-beam　connection　without　transmitting　bending　moment　was　proposed.　The　pseudo　static　tests　of　12　full-scale　joint　specimens　considering　different　influence　parameters　were　carried　out,　so　that　the　force　transmission　mechanism　of　the　joints　were　compared,　and　the　variation　law　of　stiffness　were　analyzed.　The　validated　finite　element　model　was　used　to　perform　the　extended　analysis　of　the　main　influence　parameters.　By　applying　the　numerical　fitting　method,　the　calculation　methods　for　shear　stiffness　and　bending　stiffness　of　semi-rigid　joints　were　established.　Results　show　that　the　joints　move　horizontally　and　then　rotates　under　the　horizontal　load,　and　the　configuration,　which　makes　use　of　the　bending　capacity　of　steel　bar　and　the　compression　capacity　of　rubber　sleeve,　may　realize　the　semi-rigid　performance　of　the　connection　between　the　upper　and　lower　structures　of　the　bridge.　The　thickness　of　rubber　sleeve　and　the　diameter　of　steel　bar　are　the　main　factors　affecting　the　shear　stiffness　and　bending　stiffness　of　semi-rigid　joints.　At　the　same　time,　the　number　of　steel　bars　is　nearly　related　to　the　shear　stiffness　and　bending　stiffness　with　a　multiple.　The　influence　of　the　height　of　steel　bar　and　the　thickness　of　rubber　pad　may　be　neglected.　With　the　increase　of　steel　bar　diameter,　the　translational　displacement　of　semi-rigid　joints　decreases　gradually,　and　the　shear　stiffness　and　flexural　stiffness　increase　nonlinearly.　With　the　increase　of　rubber　sleeve　thickness,　the　translational　displacement　of　semi-rigid　joints　gradually　increases,　and　the　shear　stiffness　and　flexural　stiffness　exhibit　a　nonlinearly　decreasing　relationship.　Hence,　the　stiffness　calculation　formula　considering　the　changes　of　steel　bar　diameter　and　rubber　sleeve　thickness　may　be　used　in　the　design　of　pier-beam　connection.　©　2023　Editorial　Office　of　China　Civil　Engineering　Journal.　All　rights　reserved.