Accelerated bridge construction, with innovative connection details and construction technologies, has been extensively investigated and put into practical application for years. Nowadays, there are three commonly used connection methods of accelerated bridge construction technology, namely, lap‐spliced connection, sleeve connection, and socket connection. Due to the convenience of construction and lower requirements of construction accuracy, the socket connection is more suitable for reconstruction and expansion projects of traffic infrastructure, which could minimize the impact on traffic and accelerate construction progress. According to the structural characteristics of the socket connection, there are some design parameters that may significantly affect the seismic resistance of the structure, such as socket embedment length, fabrication of the shear key, and grouting material strength. To fully study the influence of different design parameters on structural performance, an experiment was carried out to investigate the seismic behavior of the precast pier‐footing socket connections with different design parameters. Five 1:2 scale reinforced concrete precast pier‐footing socket connection specimens with different design parameters were designed and tested under cyclically reversed horizontal loads. The development of hysteresis features, failure mode, load‐bearing capacity, stiffness degradation, structural ductility, energy dissipation capacity, and residual drift are analyzed to reveal the influence of the different design parameters on the seismic behavior of the precast pier‐footing socket connection. The seismic behavior of the precast pier‐footing socket connection was significantly influenced by the embedment length especially when the embedment length was less than 1.0bc. When the embedment length was 0.5bc, the failure mode changed from bending damage at the bottom of the precast pier to the anchorage failure of the precast pier‐footing socket connection. When the embedment length was 1.5bc, the fabrication of the shear key had limited improvement on the seismic performance of the specimen, while reducing the ductility of the specimen. When the embedment length was 1.0bc, the grouting material with a strength grade of C60 could be used in the socket connection between the precast pier and footing. The research presented in this paper provides some design suggestions and a technical basis for evaluating the seismic behavior of precast pier‐footing structures with socket connection.