With the increasing scale and span of bridge structures, there has been a growing demand to reduce construction accidents and shorten the duration of pier construction. Conventional pier construction methods using steel formworks involve repetitive installation and dismantling processes, which require high-level work and pose a significant risk of fall accidents. In addition, the complexity of these processes limits construction efficiency. In this study, a rapid pier construction method using precast concrete stay-in-place formwork applied to pier columns and copings was proposed, and its structural performance and constructability were evaluated through experimental and analytical investigations. Composite and bond performance tests between the precast stay-in-place formwork and cast-in-place concrete were conducted for both column and coping components. Furthermore, construction-stage analyses were performed to assess structural stability during construction. The experimental results showed that the flexural strength of the composite column section reached approximately 105% of that of the monolithic reinforced concrete section, while the composite coping section achieved approximately 107%. The bond performance test results also confirmed that sufficient bond strength satisfying the design requirements was secured. Constructability analysis indicated that the elimination of the formwork dismantling process enables a reduction in construction duration and a significant improvement in construction safety compared to conventional steel formwork methods. Therefore, the proposed PCS-Pier method can be considered a viable alternative for pier construction, providing both structural safety and improved construction efficiency.