This study investigated the rocking behavior of unreinforced masonry walls and wall piers under cyclic loading. Based on the benchmark tests, the characteristics of load-deformation relations in masonry walls with rocking failure were captured, focusing on observed deformation modes. The rocking strengths of masonry walls (i.e., peak and residual strengths) were evaluated, and the effects of opening configurations on the masonry wall strength were examined. The deformation capacity of the rocking behavior and the hysteresis shape of the load-deformation relations were also identified. Based on the results, modeling approaches for the rocking behavior of masonry walls were discussed.