The study aims to conduct a direct pull-out test on fifty-four cube specimens considering different variables, including the type of reinforcement (sand-coated glass fiber-reinforced polymer (GFRP) and ribbed steel bars); the type of concrete (normal weight concrete NWC and lightweight foamed concrete LWFC); the diameter of the reinforcing bars (10 mm; 12 mm; and 16 mm) and the bonded length (3∅, 4∅, and 5∅). The hybrid fiber hooked-end steel (0.4% by volume) and polypropylene (0.2% by volume), respectively were used to improve the properties of LWFC by converting the brittle failure to ductile. The results showed that in the case of strengthened foamed concrete (FC), the bond strength with steel bars was greater compared to that with the GFRP bars. The bond strength ratio between the GFRP and steel bars of the FC specimens was found to vary between 37.8–89.3%. Additionally, in all specimens of FC, pull-out failure was witnessed with narrower crack width compared to NWC. Furthermore, mathematical equations have been proposed for predicting the bond strength of FC with steel and GFRP bars and showed good correlation with the experimental results.