In this paper, low circumferential reciprocating load foot-scale tests were performed on two truncated PHC B 600 130 tubular piles with bearing nodes to characterize the damage process and morphology of the specimens and to investigate the load-carrying performance of the members. The test results reveal that under the action of tensile-bending-shear loading, the bearing concrete in the node area buckles and is damaged, the anchored reinforcement in the node area yields, the constraint is weakened, an articulation point is formed, and the node rotational capacity increases. When the embedment depth increases from 200 mm to 300 mm, the ultimate bearing capacities of the positive and negative nodes increase by 57.60% and 54.60%, respectively. A numerical simulation is used to verify the test results. Considering the three types of piles with truncated nodes, the numerical simulation is used to analyze the node-bearing capacity at different embedment depths. Finally, two preferred node types are proposed as follows: pipe pile core-filled longitudinal reinforcement anchored into the bearing node and pipe pile body longitudinal reinforcement anchored into the bearing node + pipe pile core-filled longitudinal reinforcement anchored into the bearing node, with preferred embedment depths of 350 mm and 200 mm, respectively.