The invention discloses a rigid frame-continuous bridge pier structure, which aims to reduce the difficulty of foundation design and greatly save foundation investment, can be separately cast section by section, and can flexibly meet the requirements of various construction conditions. The structure comprises a bent cap (10) and at least two pier columns which are arranged at intervals along the longitudinal direction of the bent cap. The structure is characterized in that the pier columns comprise a fixedly-connected pier column (20), the top end of which forms fixed connection with the bent cap (10); and the rest pier columns are hinged pier columns (21), the top ends of which form hinge joint with the bent cap (10) through movable supports (22). The structure is particularly suitable for a bearing structure of a combined facility of an overhead railway station bridge and a building or pier columns of a multi-track bridge.