GW170817 was the first ever joint detection of gravitational waves (GW) from a binary neutron star (BNS) merger with the detections of short γ-ray burst (SGRB) counterparts. Analysis of the multi-band afterglow observations of over more than a year revealed that the outflow from the merger end-product was consistent with structured relativistic jet models with the core of the jet narrowly collimated to half opening angles ∼ 5 • . In this work, assuming all the BNS mergers produce Gaussian structured jets with properties as inferred for GW170817, we explore the prospects of joint detections of BNS mergers and prompt γ−ray emission, expected during the current and upcoming upgrades of LIGO-Virgo-KAGRA detectors. We discuss three specific observational aspects: 1) the distribution of detected binary inclination angles 2) the distance reach and 3) the detection rates. Unlike GW-only detections, the joint detections are greatly restricted at large inclination angles, due to the structure of the jets. We find that at lower inclination angles (say below 20 • ), the distance reach as well as the detection rates of the joint detections are limited by GW detectability while at larger inclinations (say above 20), they are limited by the γ-ray detectability.