Foundation piles can be used as a means for increasing the capacity of the foundations under static loads or, at the same time, can be regarded as an additional source of energy dissipation for the structure during strong motion. Under multiaxial loading, the ultimate capacity of a pile group is closely connected with the attainment of the flexural strength in the piles, which can in turn vary significantly according to the specific load path followed. Nonetheless, the design of piled foundations is still based on an independent evaluation of the vertical and horizontal capacities without accounting for the interaction between the several loads acting on the footing. To overcome this issue, in this paper a simplified numerical procedure for evaluating the capacity of piled foundations under multi-axial loading conditions is developed, which is based on the lower bound theorem of plastic limit analysis. On the basis of the numerical results, an analytical model of ultimate limit state surface is proposed, representing the force combinations that activate global plastic mechanisms of the soil-piles system. The identification of the ultimate surface necessitates a limited number of parameters having a clear physical meaning. The ultimate surface can lead to an optimised design of pile groups, allowing for a better control of the ultimate capacity as a function of the expected load patterns under static and dynamic conditions. In structural analysis, the ultimate surface can also be regarded as a bounding surface of a plasticity-based macroelement for piled foundations to account for the nonlinear features of the soil-pile system.