To study the failure modes, bearing capacity, ductility, and sleeve strain of grouted sleeve lapping connectors, 36 specimens were tested under uniaxial tensile load. The test results show that the sleeves are under longitudinal tension at the beginning, which changes to longitudinal compression in the late stage of loading, and the changing load increases gradually with the lap length. The force transmission path and mechanical mechanism of the connectors are analyzed. The distribution and development process of longitudinal sleeve stress is analyzed based on the constitutive model stress, and it is found that the sleeve changes from longitudinal tension to longitudinal compression at the late loading stage, which is consistent with the test results. Based on the test, the calculation formulas of the ultimate bond strength and critical lap length of the grouted sleeve lapping connector are proposed. The research results lay a theoretical foundation for the application of grouted sleeve lapping connectors.