To investigate the seismic performance and to obtain quantitative parameters for the requirement of performance-based bridge seismic design approach, 12 reinforced concrete (RC) hollow rectangular bridge column specimens were tested under constant axial load and cyclic bending. Parametric study is carried out on axial load ratio, aspect ratio, longitudinal reinforcement ratio and transverse reinforcement ratio. The damage states of these column specimens were related to engineering limit states to determine the quantitative criteria of performance-based bridge seismic design. The hysteretic behavior of bridge column specimens was simulated based on the fiber model in OpenSees program and the results of the force-displacement hysteretic curves were well agreed with the experimental results. The damage states of residual cracking, cover spalling, and core crushing could be well related to engineering limit states, such as longitudinal tensile strains of reinforcement or compressive strains of concrete, etc. using cumulative probability curves. The ductility coefficient varying from 3.71 to 8.29, and the equivalent viscous damping ratio varying from 0.19 to 0.31 could meet the requirements of seismic design.