In order to promote the development of bridge assembly technology and accelerate the application of rectangular steel-tube–concrete composite truss bridges, this study focuses on the Yellow River Diversion Jiqing Main Canal Bridge as the engineering example and conducts a numerical analysis of a rectangular steel-tube–concrete composite truss bridge. Based on the results of the analysis, structural optimization is achieved in three dimensions—structural design, construction methods, and force analysis—leading to the establishment of key design parameters for through-type ultra-high-performance rectangular steel-tube–concrete composite truss bridges. The results show that filling the hollow sections with ultra-high-strength concrete can significantly enhance the load-bearing capacity. Additionally, employing prestressed concrete components addresses the bending and tensile load capacity challenges of composite structures, thus maximizing the material strength advantages. The proposed preliminary design scheme incorporates prestressed PBL-reinforced tie rods filled with ultra-high-performance concrete with optimal design parameters, such as high span ratios, wide span ratios, and ideal segment lengths, are suggested to ensure that the strength, stiffness, and stability comply with relevant standards. While ensuring that the structure meets safety, applicability, and durability criteria, the preliminary design scheme reduces steel usage by 23.5%, concrete usage by 11.6%, and overall costs by 17.29% compared to the original design. The proposed design demonstrates distinct advantages over the original in terms of mechanical performance, construction efficiency, economic viability, and durability, highlighting its promising application potential.