The invention discloses a method for co-pyrolysis of solid waste and coal. The method comprises the following steps: mixing solid waste with coal metered, drying, heating, carrying out destructive distillation pyrolysis, so as to obtain solid-state pyrolysis product semi-coke and gas-state pyrolysis product coal gas containing tar gas; cooling and sieving the semicoke, so as to obtain semi-coke with different particle sizes; and carrying out oil-gas separation on coal gas containing tar gas, so as to obtain tar and coal gas, wherein partial coal gas is taken as a heat source for pyrolysis of mixed materials, and rest coal gas is taken as a coal gas product. According to the method, the co-pyrolysis of solid waste and coal is realized by virtue of a horizontal rotary kiln, and the semi-coke, tar oil and coal gas are obtained after the pyrolysis of the mixed materials in the rotary kiln at a certain temperature. The method has the beneficial effects that a technical process is simple, the operation is reliable and stable, the problem that coal gas produced by pyrolysis of solid waste is less than heat required by the pyrolysis of solid waste is solved, and the method has obvious superiority on the treatment of solid waste with great composition change.