The 31-year-old Briton dominated the action with a record best lap in one minute and 34.999 seconds yesterday -- to become the first driver to break the 1:35 barrier -- to outstrip the German by 0.216 seconds as the Silver Arrows pairing reeled off their 10th front row lockout of the year.
It is the 58th pole position of Hamilton's career, but his first at the Circuit of the Americas where, despite winning three of the four previous races, he had failed to dominate qualifying.
Renault-bound Nico Hulkenberg was seventh for Force India ahead of Valtteri Bottas and his Williams team-mate Felipe Massa and Carlos Sainz of Toro Rosso.
Hamilton is seeking his 50th win to stay in contention in the title race in which he trails Rosberg by 33 points with four races remaining.
Even if he wins all four, Hamilton could be pipped to the title by Rosberg if he finishes second behind him.
"This is my first pole position here and it is amazing. It has been many years of trying.
"A lot of great people have tried to get me there. It is a good feeling for me and gives me a good chance and I hope we can give them all a great race.
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