Test of two specimens (four different joints) of steel secondary beam embedded in reinforced concrete girder in frame structure and one specimen with steel cantilever beam embedded in reinforced concrete girder under static load were conducted. The steel beam up-flange was pulled out because of the concrete cracks caused by the moment, shear and torsion at the upper zone of the concrete beam near the steel beam end. Shear failure of the concrete beam and the top flange pullout failure are the most hazardous failure modes. Lacking restraint of concrete and the reinforcement of steel bar in the concrete slab and catenary action of restraint steel beam, the capacity of steel cantilever beam is much smaller than other beams. Load-slip curve of top flange of steel beam, load-rotation curve of the steel beam end are obtained through experiment. Primary calculation method of joints flexural capacity related to section size of composite steel beam, embedded depth of steel beam, flange width of steel beam embedded end, height of frame girder, is put up with. Analytical results of ABAQUS are shown as follows. Top flange pullout failure of steel beam is caused by the detachment of concrete and steel beam end, and the warp of the concrete slab near the support plays an unfavorable action on the performance of the steel beam. The end rotational angle of the steel beam with anchor bar is smaller than that without. The steel beam with shear connectors develops a smaller rotational angle and a higher load capacity.