On 1 December 1712, Joseph married firstly his cousin Maria Gabriele, Princess of Liechtenstein (12 July 1692 – 7 November 1713), daughter of Hans-Adam I. They had one child:
Prince Karl Anton Joseph Adam Bruno (6 October 1713 – 25 March 1715)
On 3 February 1716, Joseph married secondly Marianne, Countess of Thun-Hohenstein (27 September 1698 – 23 February 1716), but his new bride died only 20 days after the wedding.
On 3 August 1716, in Vienna, Joseph married thirdly to Maria Anna Katharina, Countess of Oettingen-Spielberg (21 September 1693 – 15 April 1729), daughter of Francis Albert, 1st Prince of Oettingen-Spielberg in 1734 (previously Count).[2] They had five children:
Princess Maria Eleonore Johanna Walburga Josepha (8 June 1717 – 1 July 1718).
Prince Joseph Anton Franz Johann Nepomuk (17 Apr 1720 – 28 November 1723).
Princess Maria Theresia Eleonora Walburga Innocentia (28 December 1721 – 19 January 1753), married Prince Joseph I Adam of Schwarzenberg (15 December 1722 – 17 February 1782).