In order to improve the constructability and meanwhile ensure excellent seismic behavior, several innovative composite connection details were conceived and studied by the authors. This paper reports experimental results and observations on seismic behavior of steel beam bolted to reinforced concrete column connections (bolted RCS or BRCS). The proposed composite connection details involve post tensioning the end plates of the steel beams to the reinforced concrete or precast concrete columns using high-strength steel rods. A rational design procedure was proposed to assure a ductile behavior of the composite structure. Strut-and-tie model analysis indicates that a bolted composite connection has a favorable stress transfer mechanism. The excellent capacity and behavior were then validated through five full-scale beam to column connection model tests.