Abstract: The connection form of beam-column joints is a key factor influencing the seismic performance of prefabricated building structures. To simultaneously meet seismic performance requirements and enable efficient construction, this paper proposes a novel connection form for prefabricated reinforced concrete beam-column joints with embedded steel sections. A full-scale precast edge-joint specimen and a corresponding cast-in-place edge-joint specimen were fabricated and tested as a control group under pseudo-static loading. The research results show that: 1) the joint exhibited a beam-end plastic hinge failure mode; 2) the load-displacement curve demonstrated favorable fullness, reflecting good ductility and energy dissipation capacity; 3) shear failure was effectively prevented in the joint core region, achieving the "strong joint, weak component" seismic design objective.