Abstract The mid-Pliocene (approximately 3.3–3.0 Ma) was one of the past geological warm periods. Since this past warmer climate was in many respects comparable to near future warming projections, how the regional monsoonal rainfall changed during the mid-Pliocene is an important scientific and socioeconomic concern. Based on phase 2 of the Pliocene Model Intercomparison Project (PlioMIP2), this work examines the simulated changes of Sahel summer rainfall during the mid-Pliocene. The results show the considerable intermodel uncertainty of the simulated mid-Pliocene Sahel rainfall changes in the PlioMIP2 multimodel ensemble, which is due to the uncertainties of both the simulated dynamic and thermodynamic responses to this past warmer climate. In particular, we find that the intermodel spread in the simulated northern North American warming is a major source of the uncertainty of the mid-Pliocene Sahel summer rainfall changes through two processes. One is a direct dynamic process: a stronger warming over northern North America could enhance the meridional temperature gradient between the extratropical and tropical regions, inducing an interhemisphere energy imbalance of the atmosphere. This could lead to a northward shift of the intertropical convergence zone, strengthening the Western African summer monsoon (WASM) circulation and Sahel summer rainfall. Another is an indirect thermodynamic process: the strengthened WASM circulation could further induce anomalous moisture convergence over the Sahel region, increasing local atmospheric moisture at the low-level troposphere, in favor of a wetter Sahel. Our results suggest that an improved warming simulation over northern North America is essential for the hydrological cycle simulation around the Sahel in the mid-Pliocene warmer climate. Significance Statement The Sahel summer rainfall change in a global warmer climate is a widespread scientific and socioeconomic issue because of its important impacts on regional agriculture, ecosystems, food security, water resources, and even cultural environment. However, the present study identifies a nonnegligible intermodel uncertainty of the simulated Sahel rainfall changes during the mid-Pliocene (one of the most recent geological warm periods in Earth’s history) in the Pliocene Model Intercomparison Project phase 2 (PlioMIP2) multimodel ensemble. In particular, such an intermodel uncertainty of the simulated Sahel rainfall changes during the mid-Pliocene is attributed to that of the simulated northern North America warming via both the direct dynamic process and the indirect thermodynamic process. This is quite different from the uncertainty source of near-future projections of Sahel summer rainfall changes. The present results improve our understanding of the underlying physics of the hydrological cycle change around the Sahel region in the mid-Pliocene warmer climate, with implications for the future projections of regional monsoonal rainfall.