Precast monolithic structures are increasingly applied in construction. Such a structure has a performance somewhere between that of a pure precast structure and that of a cast-in-place structure. A precast concrete frame structure is one of the most common prefabricated structural systems. The post-pouring joint is important for controlling the seismic performance of the entire precast monolithic frame structure. This paper investigated the joints of a precast prestressed concrete frame structure. A reversed cyclic loading test was carried out on two precast prestressed concrete beam–column joints that were fabricated with two different concrete strengths in the keyway area. This testing was also performed on a cast-in-place reinforced concrete joint for comparison. The phenomena such as joint crack development, yielding, and ultimate damage were observed, and the seismic performance of the proposed precast prestressed concrete joint was determined. The results showed that the precast prestressed concrete joint and the cast-in-place joint had a similar failure mode. The stiffness, bearing capacity, ductility, and energy dissipation were comparable. The hysteresis curves were full and showed that the joints had good energy dissipation. The presence of prestressing tendons limited the development of cracks in the precast beams. The concrete strength of the keyway area had little effect on the seismic performance of the precast prestressed concrete joints. The precast prestressed concrete joints had a seismic performance that was comparable to the equivalent monolithic system.