To investigate the load-carrying performance of the nodes between tubular piles and bearing platforms, low circumferential reciprocating load foot-scale tests were performed on two truncated PHC B 600 130 tubular piles. The development law of node destruction was explored. The test results revealed that under the action of tensile–bending–shear loading, the bearing concrete in the node area buckled and was damaged, and an articulation point was formed. When the embedment depth increased from 200 mm to 300 mm, the ultimate bearing capacities of the positive and negative nodes increased by 57.60% and 54.60%, respectively. Numerical simulation was used to analyze the bearing capacities of nodes with different types and embedment depths. Formulas for the bearing capacity of the nodes were proposed. Furthermore, two preferred node types were proposed as follows: pipe pile core-filled longitudinal reinforcement anchored to the bearing node and pipe pile body longitudinal reinforcement anchored to the bearing node + pipe pile core-filled longitudinal reinforcement anchored to the bearing node, with preferred embedment depths of 350 mm and 200 mm, respectively.