Abstract Steel H-shaped piles are widely used in bridge foundations, but studies on their connections with reinforced concrete pile-cap are quite limited. This paper reports experimental results from monotonically loaded static tests on model steel H-pile to pile-cap connections,in which the piles were subjected to tensile loading or horizontal loading with the bending in the strong or weak bending directions of the H piles. The model H-pile was shallowly embedded into the footing and anchored by four steel bars welded to the web of the H shape. The tests indicate that H-pile-footing connections were effective in transferring vertical and lateral loads. The results of load–displacement analysis show that the connections can sustain a certain amount of moment, though there is no specific design procedure in current codes. A method modified from a previous study by the first author can predict the capacity reasonably well. The study also shows that the FEM analyses can capture the load and deformation relationship and load carrying capacity of the steel H-pile to pile-cap connection satisfactorily.