Prestressed segmental bridge piers have a good self- centering capacity under earthquakes. However, existing damage models cannot accurately evaluate the seismic damage of such piers. Thus, studying the seismic damage model of prestressed segmental bridge piers is crucial. Based on the self- centering characteristics and damage mechanisms of prestressed segmental bridge piers, the self- centering performance characterization method was first simplified in this study. Then, the self- centering correction factor was used to correct the hysteretic energy dissipation of bridge piers under an earthquake, and a seismic damage model was obtained, taking into account the self- centering performance of bridge piers. On this basis, the damage states of the prestressed segmental bridge piers were divided, and the applicability of the damage model and the damage classification method was verified. Results revealed that an obvious correlation existed between the self- centering performance and the energy dissipation damage of prestressed segmental bridge piers. The proposed model and classification method considering the self- centering performance of piers are suitable for different prestressed segmental bridge piers. This study can lay the foundation for quantitatively evaluating the damage degree of prestressed segment bridge piers under earthquakes.