Precast rectangular reinforced concrete (PRRC) beams are joined on construction sites using concrete in situ to achieve the desired length. Limited research exists on the effect of intermediate connection shapes and the types of infilled concrete on the flexural performance of PRRC beams. This paper presents a comprehensive experimental and numerical investigation into the performance of PRRC beams with various intermediate connection geometries and infilled materials under flexural loading. The study examines rectangular, triangular, and semi-circular intermediate connections, along with the performance of beams infilled with normal concrete (NC), engineered cementitious composites (ECC), ultra-high-performance ECC (UHPECC), and rubberized ECC (RECC). The experimental results indicate that the rectangular intermediate connection exhibits superior performance in terms of strength and energy absorption compared to the triangular and semi-circular shapes. Beams incorporating UHPECC demonstrated the most significant improvements in strength and energy absorption, outperforming those with ECC and RECC for any shape of intermediate connection. Moreover, beams with rectangular connections and UHPECC infill exhibited the most significant increase in energy absorption and ultimate load compared to the beams with ECC and RECC. The ultimate load of the beams with UHPECC and tensile reinforcement bar diameters of 10 mm and 12 mm increased by 13% and 29%, respectively, compared to the control beam. The energy absorption of the beams with tensile reinforcement bar diameters of 10 and 12 mm was found to be 75% and 184% higher, respectively, than the control beam. In addition, an increase in tensile bar diameter was found to enhance both the energy absorption and the ultimate load capacity of the beams, regardless of the type of infill concrete. Beams incorporating UHPECC demonstrated the most significant improvements in strength and energy absorption, outperforming those with ECC and RECC. In particular, beams with rectangular connections and UHPECC infill exhibited an increase in energy absorption and ultimate load of up to 184% and 29%, respectively. UHPC was calculated to be as high as 184%, and 29%, respectively, compared to the control beams. In addition, an increase in tensile bar diameter was found to enhance both energy absorption and ultimate load capacity. Finite element modeling (FEM) was developed and validated against the experimental results to ensure accuracy. A parametric study was conducted to study the effects of various concrete types in triangular and semi-circular connections, as well as the influence of intermediate connection length on semi-circular connections under flexural loads. The findings reveal that increasing the length of intermediate connections increases the ultimate load of the beams.