In the era of energy conservation and environmental protection, as well as the industrialization of buildings, precast concrete (PC) structures have been developed and increasingly applied in construction industries due to their advantages of outstanding workability and ecofriendliness. In order to verify the reliability of overlapping U-bar loop connections and a modified form of these connections, and study the seismic performance of PC wall–beam–slab joints with these connection methods, three full-scale wall–beam–slab joints were designed and tested under low reversed cyclic loading, including one cast-in-place (CIP) specimen and two PC specimens. Based on the test results, the seismic performance of the PC joints was studied by comparing their damage process, hysteretic loops and skeleton curves, load-carrying capacity, ductility, equivalent stiffness, and energy dissipation with those of the CIP joint. After analyzing the experimental results, the following conclusions can be drawn: the overlapping U-bar loop connection and its modified form are effective and reasonable; the specimen with the modified connection form showed slightly better mechanical properties; the failure mode of the PC joints was consistent with that of the CIP joint; and the generation, distribution, and development of cracks in the PC specimens were similar to those in the CIP specimen. In addition, the stiffness of the PC joints was similar to that of the CIP joint, and the load-carrying capacity, ductility, and energy dissipation of the PC joints were better than those of the CIP joint. Moreover, the research in this paper can also provide some guidance for assembling wall–beam–slab joints in PC shear wall structures.