The pile foundations below approach slab in a semi-integral abutment jointless bridge (SAJB) that requires high flexibility to accommodate the horizontal cyclic deformation of approach slab generated by the girder’s thermal expansion and contraction as well as earthquake action. In this paper, reactive powder concrete (RPC) and reinforce concrete (RC) micro piles were designed and fabricated. The shaking table tests on dynamic response of micro piles-soil interaction were conducted to investigate the dynamic response characteristics such as the strain time history of pile-soil system, the bending moment, and the deformation of piles. The maximum strain response of piles was observed at the buried depth of 4.2 D (D is the diameter of pile). Meanwhile, the maximum bending moments of RPC and RC piles appear at the depth of 0.64 D and 0.42 D, respectively, under the dynamic load excitation, and the peak horizontal deformation of piles were observed at pile head. It is found that the bending moment and the strain response of the RPC pile are larger than that of the RC micro pile, and increased by 40% and 98%, respectively. The RPC micro pile has better crack resistance, higher ductility, and flexural rigidity than that of the RC pile, and it can be widely used as pile foundations in SAJBs for the earthquake area.