Ambient noise cross‐correlations, used to obtain fundamental‐mode Rayleigh‐wave group velocity estimates, and teleseismic P‐wave receiver functions are jointly modeled to obtain a 3D shear‐wave velocity model for the crust and upper mantle of Oklahoma. Broadband data from 82 stations of EarthScope Transportable Array, the U.S. National Seismic Network, and the Oklahoma Geological Survey are used. The period range for surface‐wave ambient noise Green’s functions is from 4.5 to 30.5 s constraining shear‐wave velocity to a depth of 50 km. We also compute high‐frequency receiver functions at these stations from 214 teleseismic earthquakes to constrain individual 1D velocity models inferred from the surface‐wave tomography. Receiver functions reveal Ps conversions from the Moho, intracrustal interfaces, and shallow sedimentary basins. Shallow low‐velocity zones in the model correlate with the large sedimentary basins of Oklahoma. The velocity model significantly improves the agreement of synthetic and observed seismograms from the 6 November 2011 5.7 Prague, Oklahoma earthquake suggesting that it can be used to improve earthquake location and moment tensor inversion of local and regional earthquakes.