Cyclic quasi-static tests were carried out on four concrete-filled round-ended stainless steel tubular(CFRST) bridge pier specimens and two concrete-filled round-ended carbon steel tubular (CFRT) bridge pier specimens with different steel tube materials, loading directions and hollow sections. The failure patterns, hysteretic behavior, skeleton curves, ductility ratio and energy dissipation of these specimens were analyzed. The experimental results show that the failure mode of CFRST specimens is the buckling of bottom tubes as well as the crushing of bottom concrete. The hysteretic loops are plump, there are no obvious pinching of curves and the energy dissipation capacity and ductility are good. Compared with round-ended steel tubular bridge pier specimens, the bearing capacity and initial stiffness are almost the same as those of CFRST specimens, the ductility and energy dissipation capacity of CFRST specimens are increased, and the stiffness degradation is decreased. Compared with CFRST specimens with a solid section, the horizontal bearing capacity, initial stiffness, ductility and energy dissipation capacity of CFRST specimens with a hollow section are increased when loading along the strong axis. When loading along the weak axis, the bearing capacity and initial stiffness of CFRST specimens with a hollow section are still higher than those of the specimens with a solid section. But the ductility and energy dissipation capacity of CFRST specimens with a hollow section are slightly lower than those of the specimens with a solid section due to the buckling of the flat portion of steel tubes near the base. A calculation method of the horizontal bearing capacity of the piers is given, and the calculation results are in good agreement with the quasi-static test result.