Compared to more complex structures, simply configured reinforced concrete column–steel beam (RCS) composite structures have more promising application prospects, especially in regions with moderate–high seismic levels, due to their ease of construction. However, the current understanding of the seismic performance of simplified RCS joints is not sufficient. Validated by experimental results, a nonlinear finite element analysis (FEA) model was developed in this study to reveal the seismic behavior of simplified RCS joints. Six vital design parameters, namely axial load ratio, concrete strength, yield strengths of steel webs and flanges, and diameters of transverse and longitudinal reinforcements, were comprehensively studied. Research has shown that the axial compression ratio has a significant impact on the failure mode and bearing capacity of joints. When the concrete strength increases, the load-bearing capacity of the joints significantly increases, while the brittleness of high-strength concrete leads to a decrease in its deformation capacity. In addition, when the steel beam strength is constant, higher flange and web yield strengths have a limited influence on crack propagation and strain development. The stirrup reinforcement ratio and longitudinal reinforcement ratio play a significant role in inhibiting crack propagation and improving the bearing capacity, respectively. With the help of the numerical results, six theoretical models introduced by national codes and other researchers were compared. Among them, the modified model proposed by Kanno demonstrated the highest accuracy and was the most suitable for simply configured RCS joints.