This study investigated the flexural behavior of prefabricated RC bridge decks with different joint materials, normal strength concrete or UHPC (normal strength concrete for RC deck, while UHPC means ultra-high performance concrete). A total of three specimens were tested and subjected to four-point bending loads. The load–deflection curve, strain curve, load–crack width curve, and failure mode were analyzed. Numerical models with cohesive models were built and verified with test results to explore the force-transferring mechanism. The results show that UHPC effectively improved the crack strength, flexural strength, and failure mode. Compared with the joint with normal-strength concrete, the crack strength and flexural strength increased by 66.7% and 6%, respectively. The failure mode of the specimen with UHPC as joint material changed from a concentrated cracking failure of the joint to a multi-crack development failure. The behavior of the specimen with UHPC as joint material was similar to the monolithically cast specimen. In addition, the application of the current design method was evaluated and compared with test results.