Permafrost impacts the subsurface hydrology and determines the transport of buried biochemical substances. Current evaluations of permafrost mostly focus on the overlying active layer. However, the basic but missing information of permafrost thickness constrains the quantification of trends and effects of permafrost degradation on subsurface hydrological processes. Our study quantified the long-term variations in permafrost thickness on the Tibetan Plateau (TP) between 1851 and 2100 based on layered soil temperatures calculated from eight earth system models (ESMs) of Coupled Model Intercomparison Project (the sixth phase) and validated by field observations and previous permafrost pattern from remote sensing. The calculated permafrost distribution based on ESMs was validated by the pattern derived from the MODIS datasets and field survey. Our results show that permafrost thicker than 10 m covers approximately 0.97 million km${}^2$ of the total area of the TP, which represents an areal extent of over 36.49% of the whole TP. The mean permafrost thickness of the TP was 43.20 m between 1851 and 2014, and it would decrease at an average rate of 9.42, 14.99, 18.78, and 20.75 cm per year under scenarios SSP126, SSP245, SSP370, and SSP585 from 2015 to 2100, respectively. The permafrost thickness will decrease by over 50 cm per year in Qiangtang Basin under SSP585. Our study provides new insights for spatiotemporal changes in permafrost thickness and a basic dataset combined results of remote sensing, field measurements for further exploring relevant hydrological, geomorphic processes and biogeochemical cycles in the plateau cryospheric environment.