In this letter, we address the problem of designing the joint waveform of radar detection, wireless communication and jamming. In the current most powerful filter‐bank multi‐carrier comb spectrum framework, a parameter‐agile time–frequency structure between symbols is elaborated to improve the uncertainty of waveform generation architecture. Furthermore, a novel composite modulation strategy that combines intra‐symbol chaos‐based radar frequency modulation and inter‐symbol chaos‐based phase modulation is proposed for a substantial jamming performance improvement. Simulation results verify that the proposed joint waveform produces a superior jamming performance while satisfying the requirements of radar detection and wireless communication.