In this paper, a metallic damper that combines rotational friction and flexural yielding at the beam-column connection (FD-MD connection), which can be used for precast concrete structures, is presented. The FD-MD energy dissipation system consists of a two-stage mechanism. The first stage is the friction damper (FD), which dissipates energy through rotational friction. The second stage is the metallic damper (MD), which dissipates energy via flexural yielding. FD consumes energy by frictional yield under small earthquakes (low deformation), while MD mostly dissipates energy by metal flexural yield under large earthquakes and very rare earthquakes (large deformation). Cast-in-situ concrete frame structure (CCFS) and precast concrete frame structure (PCFS) with FD-MD connection from nonlinear static and dynamic time history analyses indicate that PCFS can effectively reduce the deformation of the structure and improve the seismic performance of the structures.