Beam-to-column connection is the most critical part of a precast concrete (PC) structure as it governs the integrity of the entire structure. In this study, a beam-to-column connection with square hollow section (SHS) hidden corbel was developed. A full-scale test was conducted on eleven T-subframe specimens with various configurations to investigate the behaviour of the connection under an incremental static load. The behaviour of the connection was evaluated in terms of the moment-rotation response and the mechanical properties were obtained by using the beam-line method. Due to the extensive usage of steel elements, the PC connect possessed a higher ultimate strength than the reinforced concrete (RC) connection. The moment resistance of the connection was largely contributed to by the hidden corbel embedded in the beam and column. However, the PC connection gave a lower stiffness, which resulted in a larger rotation deformation than the RC connection, and thus lowered its design strength. The PC connection was classified as semi-rigid and partial strength, and only specimen PC-3 was considered feasible for PC structures.