Loading tests and FEM analysis were conducted to investigate the ultimate shear strength of beam-column joints of a cover plate type consisting of a reinforced concrete column and steel beams. Based on these results, a design formula for ultimate shear strength was proposed, considering the effects of the width-thickness ratio of the cover plate, the concrete strength of the column-beam joint, and the cross-sectional shapes of the column and beam. Furthermore, the proposed design formula was verified using existing experimental data, and it was shown to have good accuracy.