Low-damage design of structures in seismic-prone areas is becoming an efficient strategy to obtain “earthquake-proof” buildings, i.e. buildings that, even in the case of severe seismic actions, experience a low or negligible amount of damage. Besides the safeguard of human lives, this design strategy aims also to limit the downtime of buildings, which represents a significant source of economic loss, and to ensure an immediate occupancy in the aftermath of an earthquake. In this context, focusing on moment-resisting frames (MRFs), several solutions have been developed for the beam-to-column connections (BCCs) of steel and precast/prestressed concrete structures, but very few for cast-in-situ reinforced concrete (RC) structures. This paper focuses on a recently-proposed friction-based BCC for MRFs made with hybrid steel-trussed concrete beams (HSTCBs). The latter are made by a spatial lattice built using V-shaped rebars and a steel bottom plate, which eases the introduction of a friction dissipative device. HSTCBs are usually characterized by a small effective depth, which leads to a large amount of longitudinal rebars. The latter, together with a small-sized beam-column joint, make it potentially subjected to severe damage, which reduces its dissipative capacity. The shear force acting on the joint can be reduced by endowing the BCC with a friction device, with the aim of increasing the lever arm of the bending moment transferred between beam and joint, preventing the latter from damage. To evaluate the mechanical performance of the above connection, two experimental programs have been carried out at the Structures Laboratory of the University of Palermo. The first one focused on the characterization of the friction properties of two different materials (thermal sprayed aluminum and brass), by means of a linear dissipative device subjected to cyclic load. The second one tested a beam-to-column subassembly endowed with the recently-proposed connection in which the dissipative device was made with the best performing friction material tested before. The results of the cyclic tests are presented and commented, confirming the high performances exhibited by thermal sprayed aluminum and brass, and showing the promising effectiveness of such connection in providing a low-damage behavior and a satisfactory dissipative capacity.