This study describes an experimental and numerical investigation on the seismic behaviour of masonry infilled hinged steel frames with openings. Experimental tests of six half-scaled, single-storey and single-bay specimens including one bare hinged steel frame, one solid infilled hinged steel frame, and four masonry infilled hinged steel frames with different opening sizes were carried out under lateral cyclic loading. The cracking patterns, failure modes, hysteretic behaviour, characteristic loads and displacements, stiffness degradation and equivalent viscous damping ratios of these specimens were compared. Furthermore, detailed three-dimensional finite element (FE) models of test specimens were developed in the commercially available FE code ABAQUS, and a series of nonlinear pushover analyses were performed. In particular, the lateral load–displacement relationships of test specimens were numerically simulated and validated against the experimental results. In addition, the mechanical behaviour of infilled walls under lateral loading was investigated.