Owing to the substantial benefits in environmental protection and resource saving, recycled aggregate concrete (RAC) is increasingly used in civil engineering; among the different types, RAC-filled steel tubes are an efficient structural form utilizing the advantages of concrete and steel tubes. This paper proposed a novel full-bolted beam-to-concrete-filled steel tube (CFST) joint and investigated the anchoring behavior of the steel plates embedded in RAC-filled steel tubes, which represents the behavior of the tensile zone in this joint, to demonstrate the feasibility of utilizing RAC in composite structures. The specimen consisted of a CFST and a connecting plate embedded in the CFST. In total, 18 specimens were tested to study the effects of concrete type (i.e., recycled aggregate concrete and natural aggregate concrete), anchoring type (i.e., plate with holes, notches, and rebars), and plate thickness on the pullout behavior, such as anchorage strength, load–displacement response, and ductility. Based on experimental results, the aggregate type of the concrete does not affect the pullout behavior obviously but the influence of anchoring type is significant. Among the three anchoring methods, the plate with rebars exhibits the best performance in terms of anchorage strength and ductility, and is recommended for the beam-to-CFST joint. In addition, plate thickness obviously affects the behavior of plates with holes and notches, the bearing area of which is proportional to the thickness, whereas the pullout behavior of the plates with rebars is independent of thickness. Finally, design formulas are proposed to estimate the anchorage strength of the connecting plates, and their reasonability is validated using the experimental results.