We report a high-resolution terahertz spectroscopic study of quantum spin dynamics in the antiferromagnetic Heisenberg-Ising spin-chain compound BaCo$_2$V$_2$O$_8$ as a function of temperature and longitudinal magnetic field. Confined spinon excitations are observed in an antiferromagnetic phase below $T_Nsimeq 5.5$ K. In a field-induced gapless phase above $B_c=3.8$ T, we identify many-body string excitations as well as low-energy fractional psinon/antipsinon excitations by comparing to Bethe-Ansatz calculations. In the vicinity of $B_c$, the high-energy string excitations are found to be dynamically dominant over the fractional excitations.
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