This study focuses on the experimental characterization of the bond behavior between concrete and Fiber Reinforced Polymer (FRP) reinforcing bars (rebars). Pull-out tests were performed on glass, carbon, and aramid FRP rebars, as well as on deformed steel rebars. The influence of various parameters on the bond behavior was studied, such as the type of fibers, the diameter of the FRP bars and their surface geometry. Scanning-Electron-Microscope (SEM) observations were performed to precisely study the sand coating characteristics of these rebars. A main originality of the proposed approach relied on the instrumentation of pull-out samples using Distributed Optical Fiber Sensing (DOFS) instrumentation. Such a distributed measurement system provided access to the longitudinal strain distribution along the rebar near the rebar-concrete interface, and then made it possible to determine the effective development length of the various types of rebars considered in this study. As the introduction of DOFS instrumentation may be intrusive, its influence on the interface behavior was also discussed.