In this research, the self-centering effect in precast and prestressed reinforced concrete structures was investigated experimentally. The reinforced concrete beams and columns were precast and connected by post-tensioning tendons passing through the center of the beams as well as the panel zone of the connections. Three beam-to-interior-column connections were constructed to investigate parameters such as beam to column interfaces (steel on steel or plastic on plastic), energy dissipating devices (unbonded buckling restrained steel bars or steel angles) and the spacing of hoops in the panel zone. In addition to the self-centering effect, the shear strength in the panel zone of interior column connections was experimentally and theoretically evaluated, since the panel zone designed by current code provisions may not be conservative enough to resist the panel shear increased by the post-tensioning force.