Tropical cyclones (TCs) are among the largest drivers of extreme rainfall and surge, but current and future TC joint hazard has not been well quantified. We utilize a physics-based approach to simulate TC rainfall and storm tides and quantify their joint hazard under historical conditions and a future (SSP5 8.5) climate projection. We find drastic increases in the frequency of exceeding joint historical 100-yr hazard levels by 2100, with a 10–36 fold increase along the southern US coast and 30–195 fold increase in the northeast. The joint hazard increase is induced by sea-level rise and TC climatology change; the relative contribution of TC climatology change is higher than that of sea-level rise for 96% of the coast due to large increases in rainfall. Increasing storm intensity and decreasing translation speed are the main TC change factors that cause higher rainfall and storm tides and up to 25% increase in their dependence.