With current rapid growth of cities and the move toward the development of both sustainable and resilient infrastructure systems, it is vital for the structural engineering community to continue to improve their knowledge in earthquake engineering to limit infrastructure damage and the associated social and economic impacts. Historically, the development of such knowledge has been accomplished through the deployment of analytical simulations and experimental testing. Experimental testing is considered the most accurate tool by which local behavior of components or global response of systems can be assessed, assuming the test setup is realistically configured and the experiment is effectively executed. However, issues of scale, equipment capacity, and availability of research funding continue to hinder full-scale testing of complete structures. On the other hand, analytical simulation software is limited to solving specific type of problems and in many cases fail to capture complex behaviors, failure modes, and collapse of structural systems. Hybrid simulation has emerged as a potentially accurate and efficient tool for the evaluation of the response of large and complex structures under earthquake loading. In hybrid (experiment-analysis) simulation, part of a structural system is experimentally represented while the rest of the structure is numerically modeled. Typically, the most critical component is physically represented. By combining a physical specimen and a numerical model, the system-level behavior can be better quantified than modeling the entire system purely analytically or testing only a component. This article discusses the use of hybrid simulation as an effective tool for the seismic evaluation of structures. First, a chronicled development of hybrid simulation is presented with an overview of some of the previously conducted studies. Second, an overview of a hybrid simulation environment is provided. Finally, a hybrid simulation application example on the response of steel frames with semi-rigid connections under earthquake excitations is presented. The simulations included a full-scale physical specimen for the experimental module of a connection, and a 2D finite element model for the analytical module. It is demonstrated that hybrid simulation is a powerful tool for advanced assessment when used with appropriate analytical and experimental realizations of the components and that semi-rigid frames are a viable option in earthquake engineering applications.