Shear failure and core concrete crushing at plastic hinge region are the two main failure modes of bridge piers, which can make repair impossible and cause the collapse of bridge. To avoid the two types of failure of pier, a composite pier was proposed, which was formed by embedding high strength concrete filled steel tubular (CFT) column in reinforced concrete (RC) pier. Through cyclic loading tests, the seismic performances of the composite pier were studied. The experimental results show that the CFT column embedded in composite pier can increase the flexural strength, displacement ductility and energy dissipation capacity, and decrease the residual displacement after undergoing large deformation. The analytical analysis is performed to simulate the hysteretic behavior of the composite pier subjected to cyclic loading, and the numerical results agree well with the experimental results. Using the analytical model and time-history analysis method, seismic responses of a continuous girder bridge using composite piers is investigated, and the results show that the bridge using composite piers can resist much stronger earthquake than the bridge using RC piers.