In this paper, the influences of parameters such as the bond length, surface textures of reinforcement, reinforcement type and stirrups restraint were considered. Pull-out failure, splitting failure and splitting-pullout failure modes were observed during the test. The slip at the free end always lagged behind the slip at the loading end and the bond-slip curve of ribbed basalt fiber reinforced polymer (BFRP) bars included the micro-slip stage, slip stage, descent stage, and residual stage. Reducing the bond length and using ribbed-sand coated bars were beneficial to improve the bond performance. Increasing the bond length from 2.5 d to 5 d reduced the bond strength by 49.2%. The application of ribbed-sand coated bars instead of plain bars increased the bond strength by 1202.3%. The difference in bond strength between steel bars, BFRP bars and glass fiber reinforced polymer (GFRP) bars was small and the bond strengths of the three were much greater than that of carbon fiber reinforced polymer (CFRP) bars. This was mainly attributed to the different rib forms of the bars. The application of stirrups increased the bond strength by 11.5%, which indicated that the stirrup restraints can improve the bond behavior to a certain extent. Besides, the analysis of the bond-slip curve based on the energy perspective was consistent with test results.