In order to study the bond behavior between the steel bar and the grouting material of the sleeve grouting joint in the precast concrete structure, 30 specimens of grouting sleeve are designed for pull-out tests. The effects of four parameters including steel anchorage length, grouting compressive strength, grouting thickness and steel bar diameter on the bond strength of steel bars were studied. The results show that as the anchor length increases, the bond strength between the steel bar and the grout decreases; with the increase of compressive strength of grouting material, the bond strength between reinforcement and grouting material increases. With the thickness of the grout increasing, the bond strength decreases. For 12 mm steel bars, when the thickness of the slurry is between 9 mm and 11 mm, the thickness of the slurry has little effect on the bond strength. When the thickness of the slurry exceeds 11 mm, the effect is significantly increased. The bond strength increases as the diameter of the bar increases. According to the measured sleeve strain and the balance distribution model of the spacer, the relationship between the bond strength and the restraint stress as well as the compressive strength of the grout is obtained, which can provide a reference for the anchorage length of grouted sleeve connections in the engineering practice.