In order to explore the influence mechanism of grouting speed, grouting material and temperature on the grouting density of prefabricated bridge connecting sleeve, and then realize the optimal grouting quality. In this paper, 20 sets of sleeve grouting tests are designed based on the response surface method, relying on the second section of the southern section of Dongxiaonan Road-Guangzhou South Railway Station connection line in Guangzhou, Guangdong Province, and the compactness is checked by resistivity method. The results show that the resistivity test results are in good agreement with the quality results of specimens, which can well detect the compactness after grouting. The analysis of the compactness data by the response surface method shows that the selection of grouting material has a great influence on the quality of grouting. It is suggested to select high-strength non-shrinkage grouting material, control the grouting temperature at 25℃, and control the grouting speed at 30ml/s.