The grouting sleeve connection technology for prefabricated concrete cantilever slabs requires more in-depth theoretical support. Therefore, a special study is conducted on the semi-grouting sleeve connection. Quantitative relationship between the tensile force of the connection steel bars inside the sleeve and its influencing factors is constructed and analyzed. Research has shown that internal factors affecting the tensile force of steel bars inside the sleeve include the self-parameters of the connection steel bars (diameter and embedded length), the self-parameters of the sleeve (elastic modulus, thickness, inner diameter, circumferential strain), and the self-parameters of the grouting material (compressive strength), among which the self-parameters of the connection steel bars have the most significant impact. Besides, the preferred recommended measure to enhance the load-bearing capacity of prefabricated cantilever slabs is to increase the diameter and embedded length of the connection steel bars.