A new precast concrete beam-column joint connected by I-shaped section steel was presented.The precast concrete beam-column joint was tested under reversed cyclic loading.According to the characteristics of the I-shaped section steel connection，a simplified equivalent cross connection model was proposed to simulate the joint.Based on the experimental results of the joint and the stochastic point scattered in two-dimensional space，the equivalent elastic modulus of concrete and yield strength of steel bar were identified in the simplified cross connection model.Therefore，the hysteretic curve of the prefabricated concrete beam-column joint could be simulated easily by finite element analysis.A precast RC frame structure with six floors and three spans constructed by the precast concrete beam-column joint and a cast-in-situ RC frame structure with the same section and the same reinforcement ratio with the precast beam and column were analyzed by Pushover method.Meanwhile，according to the parameters identified from the experimental results，the nonlinear numerical simulation of the precast RC frame structure under seismic excitation was developed.The experimental results show the hysteric curve of the precast concrete beam-column joint was plump.The numerical simulation results present that the precast RC frame structure exhibits the satisfactory load-carrying and deformation capacity.Thus，the presented precast concrete beam-column joint can be used as a connected type for the fabricated concrete frame structure.