To improve the construction convenience of grouted splice connector, grouted sleeve lapping connector with independent intellectual property rights was put forward. A total of 63 specimens varied in bar diameter and lap length were tested under tensile load to study the mechanical properties of grouted sleeve lapping connector, which provides important scientific data for the application of the connector in precast concrete components. Failure modes, ultimate tensile capabilities, load-displacement curves and reinforcement and sleeve strains of the specimens were discussed. Bar fracture and bar-grout bond slip are the typical failure modes of the specimens, grout-sleeve bond failure and sleeve tensile fracture do not appear. Compared with the steel bar, the ultimate tensile capacity and the load-displacement curve of the connector are similar, while the stiffness is a bit lower. For specimens with the same bar diameter that failed by bar fracture, transverse confinement provided by the sleeve wall decreases as lap length increases. For specimens with bar-grout bond failure, bar diameter increase leads to an increase in confinement stress generated by the sleeve wall. The working mechanisms of grouted sleeve lapping connector and butting connector were analyzed. Compared with grouted sleeve lapping connector, sleeves with stronger tensile capacity and grout-sleeve with higher bond performance are needed to guarantee the working performance of grouted sleeve butting connector. The mechanical properties and mechanical model of grouted sleeve lapping connector were analyzed. Two equations were proposed to calculate the average lapping bond stress and critical lap length. Under confinement, the required lap length can be shortened greatly. The recommended lap length is 12.5 times bar diameter.