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The joint form plays a vital role in the rapid assembly of precast bridge decks for steel–concrete composite bridges. Existing research primarily focuses on studying the shear performance of joints through direct shear tests, which is insufficient to fully reflect the mechanical behavior of joints under the constraint of prefabricated bridge deck panels during actual vehicular traffic. Considering situations such as vehicle loads and external forces acting on precast bridge decks, this study investigates the shear performance of epoxy joints under constraint through an improved shear test. The influence of constraint force, shear key details and interface defects on the shear performance of epoxy joints is investigated. The results reveal that the shear test method employed in this study can realistically reflect the shear performance of epoxy joints in precast bridge decks. Both active and passive constrained epoxy joint specimens exhibited no interface cracks, and their failure modes were identified as shear failure between mid-span supports. Compared with passive constraint, the shear-bearing capacity of epoxy joint specimens under active constraint was increased by 86.1~130.6%. Among the epoxy joint specimens with depth–height ratios of 15/110, 25/110, 35/110 and 45/110, the joint with a depth of 35 mm demonstrated the highest shear strength. Furthermore, the shear performance of epoxy joints significantly deteriorated when the interface defects exceeded 30%, resulting in the failure mode transforming from shear failure to interface failure. [ABSTRACT FROM AUTHOR]