Utilizing data from the Tropical Rainfall Measuring Mission (TRMM) satellite’s precipitation radar (PR) and lightning imaging sensor (LIS), this study explores the spatiotemporal distributions of thunderstorm and lightning structures over the Qinghai–Tibet Plateau (QTP), an aspect that has not been explored previously. The structural aspects are crucial when considering the impact of thunderstorm and lightning activity in the atmospheric processes. Thunderstorms over the QTP show clear spatial variations in both vertical height and horizontal extension. In the southern region, the average heights of 20 dBZ and 30 dBZ echo tops typically exceed 11.2 and 9.3 km, respectively. Meanwhile, in the eastern part, the average coverage areas for reflectivity greater than 20 dBZ and 30 dBZ consistently surpass 1000 and 180 km2, respectively. The spatial distribution of thunderstorm vertical development height relative to the surface aligns more closely with the horizontal extension, indicating stronger convection in the eastern QTP. The thunderstorm flash rate shows an eastward and northward prevalence, while the thunderstorm flash density peaks in the western and northeastern QTP, with a minimum in the southeast. Furthermore, in the eastern QTP, lightning duration, spatial expansion, and radiance are more pronounced, with the average values typically exceeding 0.22 s, 14.5 km, and 0.50 J m−2 sr−1 μm−1, respectively. Monthly variations reveal heightened values during the summer season for thunderstorm vertical extension, areas with reflectivity greater than 30 dBZ, and lightning frequency. Diurnal variations highlight an afternoon increase in thunderstorm vertical and horizontal extension, lightning frequency, duration, and spatial scale. From a statistical perspective, under weak convective conditions, lightning length exhibits a positive correlation with thunderstorm convection intensity, contrasting with the opposite relationship suggested by previous studies. This article further analyzes and discusses the correlations between various thunderstorm and lightning structural parameters, enhancing our understanding of the distinctive features of thunderstorm and lightning activities in the QTP.