This paper aims to explore the material properties of RPC and transverse-bending performance, as well as the crack-width-calculation theory of a densely reinforced steel–RPC composite structure with different fiber parameters. Two fiber types (straight fiber, hybrid fiber) and four fiber volume contents (2%, 2.5%, 3%, 3.5%) were selected to explore the mechanical properties of RPC materials, and the influences of fiber parameters on compressive strength, modulus of elasticity, flexural strength and axial tensile property were investigated. Eight steel–RPC composite plates with different design parameters (fiber type and reinforcement ratio) were conducted to study the transverse-bending performance of steel–RPC composite deck structures. The results show that the addition of 3.5% hybrid fibers to the RPC matrix leads to the optimum axial tensile and flexural properties. Furthermore, the failure mode, load–displacement curve, crack occurrence and propagation characteristics of the composite structure are analyzed in detail. Based on the experimental results, the calculation methods of reinforcement stress and crack width of densely reinforced steel–RPC composite structure are proposed. The calculated results of reinforcement stress and maximum crack width are in good agreement with the actual measured values, which can provide a reference for engineering design.