To analyze the bonding and anchoring performance of the connecting steel bars of prefabricated concrete bridges and concrete, the steel bar diameter, concrete strength, and anchorage length were taken as test parameters, and 22 pullout test pieces were fabricated for experimental research. The finite element model of the reinforced concrete bonding interface was constructed to analyze the influence of various parameters on the bearing capacity and bonding strength of the test pieces. Based on the experimental data and finite element results, the bonding strength calculation formulas for the connecting steel bars of prefabricated reinforced concrete bridges were fitted and derived. The relevant regulations of domestic and foreign standards for the anchorage length of steel bars were compared and analyzed, and the recommended value for the basic anchorage length of connecting steel bars of prefabricated concrete bridges under different concrete strength levels was given. Results show that for the connecting steel bars of prefabricated components, the bearing capacity of the interface between steel bar and concrete had positive relations with concrete strength, steel bar diameter, and anchorage length. The interface bonding strength was positively correlated with concrete strength, negatively correlated with steel bar diameter, and had little relation with anchorage length. The influence of the anchorage length and the thickness of the protective layer can be ignored when calculating bonding strength.