The quality inspection of grouted sleeve connections is a critical challenge when promoting the application of prefabricated reinforced concrete structures. To achieve nondestructive and efficient detection of such joints, this study develops a field-applicable device based on the radial deformation characteristics of sleeves during loading. The device comprises a loading unit, a testing unit, and a data acquisition unit, featuring a compact structure, convenient assembly and disassembly, and strong adaptability to engineering conditions. To verify its feasibility, three types of specimens representing typical construction conditions—fully grouted, insufficiently grouted, and ungrouted—were tested. The results demonstrate pronounced differences in radial compression stiffness among the specimens, indicating that this parameter can effectively reflect grouting compactness. Combined with finite element simulation analysis, the optimal detection parameters were determined under the condition that the grout material remains undamaged: a pressing strip width of 6 mm, an applied load of 3,000 N, and a measurement point spacing not exceeding 6 mm. The proposed method offers in situ, nondestructive, and user-friendly operation, which significantly improves grouting quality control. It provides a new technical pathway and theoretical foundation for safety evaluation and quality assurance in prefabricated structures.