In geotechnical engineering, the stability of rigid footings under eccentrically inclined loads is an important issue. This is because the number of superstructures has increased and the situation of structures being subjected to eccentrically inclined loading is occurring more and more frequently. The objective of this paper was to evaluate the bearing capacity of a rigid footing on the free surface of uniform sandy and clayey soils under the action of eccentric and inclined loading using a finite element analysis by assuming that the soils follow the Drucker-Prager yield function. In the two-dimensional analysis of the footing-soil system, the rigid plastic finite element method (RPFEM) was applied to calculate the ultimate bearing capacity of the eccentric-inclined loaded footing. In the numerical analysis, an interface element was introduced to simulate the footing-soil system with the rigid plastic constitutive equation developed by the authors. The footing was considered to be rigid and rough, as it most often is in reality. This study thoroughly considered the effect of the soil properties on load inclination factors iγ and ic in order to investigate the validity of the current design methods. In particular, the effects of the horizontal load in two directions on the ultimate bearing capacity of the footing and the failure envelopes in the V-H-M space were clarified, namely, positive and negative horizontal loads. The results showed that the positive horizontal load had a negative effect on the bearing capacity, while the negative horizontal load had the opposite effect in the presence of eccentrically inclined loading. The failure mode of the footing-soil system was clearly seen in the difference between the two directions of horizontal load. Through a series of numerical analyses, new equations were proposed for load inclination factors iγ and ic, and for the failure envelopes in the V-H-M space, taking into account the direction of the horizontal load. The obtained limit load space was proved to be rational in comparison to those given in the literature. Furthermore, the applicability of the limit load space to different loading paths, and moreover, to the independently prescribed loads of V, H, and M, was examined. Consequently, the failure envelope for each type of soil in the V-H-M space was clearly seen to be unique.