Precast concrete (PC) modules have been increased its use in modular buildings due to their better seismic performance than steel modules. The main issue of the PC module is to ensure structural performance with appropriate connection methods. This study proposed a PC modular beam system for simple construction and improved structural and splicing performance. This modular system consisted of modules with steel plates inserted, and it is easy to construct by bolted connection. The steel plates play the role of tensile rebar and stirrup, which has the advantage of structural performance. The structural performance of the proposed PC modular beam system was evaluated by flexural test on one reinforced concrete (RC) beam specimen consisting of a monolithic, and two PC specimens with the proposed PC modular beam system. The results demonstrated that the proposed PC modular beam system achieved approximately 86% of the structural performance compared to the RC monolithic specimen, with similar ductility of approximately 1.06 fold greater.