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Research on the development of prefabricated foundations has been quite extensive to date, while studies on prefabricated concrete raft foundations and their connection methods remain relatively scarce. This study proposes a novel type of prefabricated raft foundation and its corresponding grouted plug-in connection. The connection comprises two prefabricated units and achieves connection via steel inserts and grouting in pre-slots, possessing numerous advantages such as convenient construction, fast installation, and high construction quality. To verify the performance of the connection node and the bearing capacity of the foundation, based on the engineering practice of prefabricated raft foundations, this study fabricated a full-scale specimen composed of three prefabricated units of the raft foundation, conducted a stacking load test on it, and carried out finite element analysis afterwards. The main conclusion is that severe flexural failure occurred near the grouted plug-in connection of the prefabricated units when the specimen failed, implying that the node region has sufficient bearing capacity. The ultimate bending moments of the specimen obtained from the experiment and finite element analysis are 736.5 kN·m and 859.5·kN m, respectively, with a difference of 14%, indicating a good agreement between them. Ignoring the effect of the upper steel reinforcements, the calculated section bending capacity of the prefabricated unit is 892.8·kN m; the ultimate bending moment of the test specimen reached 0.83 of the section bending capacity of the prefabricated unit, indicating that the proposed raft foundation and its connection method have good bending bearing capacity.