To reduce the maintenance requirements during the service life of highway bridges and enhance the cracking resistance of concrete slabs in the hogging moment zone of continuous composite girders, this paper proposes an innovative girder-to-pier joint for composite bridges with integral piers. Compared to the existing ones, this new joint has structural differences. The middle part of the embedded web is hollowed out to facilitate the construction, and the upper and bottom flanges of the steel girder within this joint are widened. Moreover, cast-in-place ultra-high-performance concrete (UHPC) is applied instead of normal concrete (NC) only on the top surface of the pier. A full-scale test was carried out for this new joint to evaluate the load-displacement relationship, load-strain relationship, crack initiation, and crack propagation. Compared with the numerical simulation results of the reference engineering, the test results demonstrated that the proposed joint exhibited excellent flexural performance and cracking resistance. This paper also proposes a calculation method for the elastic flexural capacity of the girder-to-pier joint incorporating the tensile strength of UHPC, and the calculated result was in good agreement with the experimental result.