To predict joint development characteristics of coal seams, joint characteristics of rock seams from 88field stations were observed and comparisons were made between joint characteristics of coal and rock seams at 10 coal outcrops. Additionally, detailed joint measurements of underground coal seams were taken at two coal mines. This study investigated the effects of seam thickness, lithology, and structure on joint development and established the relationship between joint development of coal and rock seams, which allowed predictions of predominant joint densities for the No.5 coal seam in the southeastern margin of the Ordos basin. The results show that outcrop and underground coal seams exhibit the same joint systems as rock seams. The joints are mainly upright. Predominant joints strike 55° on average, followed by joints striking 320°. The joint density of the coal seam is 18.7–22.5 times that of the sandstone seam at the same thickness. The predominant joint density of the No.5 coal seam, controlled by the structure, is 4–20 joints per meter. Joint densities exhibit high values at intersecting areas of faults and folds and decrease values in structurally stable areas. The permeability increases exponentially with increasing density of the predominant joints. To predict joint development characteristics of coal seams, joint characteristics of rock seams from 88field stations were observed and comparisons were made between joint characteristics of coal and rock seams at 10 coal outcrops. Additionally, detailed joint measurements of underground coal seams were taken at two coal mines. This study investigated the effects of seam thickness, lithology, and structure on joint development and established the relationship between joint development of coal and rock seams, which allowed predictions of predominant joint densities for the No. 5 coal seam in the southeastern margin of the results show that outcrop and underground coal seams exhibit the same joint systems as rock seams. The joints are mainly upright. Predominant joints strike 55 ° on average, followed by joints striking 320 °. The joint density of the coal seam is 18.7-22.5 times that of the sandstone seam at the same thickness. The predominant joint density of the No.5 coal seam, controlled by the structure, is 4-20 joints per meter. Joint densities exhibit high values ​​at intersecting areas of faults and folds and decrease values ​​in structurally stable areas. The permeability increases exponentially with increasing density of the predominant joints.