The McLaren driver clocked a best lap of 1min 32.330sec to outpace by by 0.031sec his Red Bull rival, who leads the title race by 54 points with six races remaining.
On the second row were Ferrari's Carlos Sainz and Charles Leclerc.
"It was a beautiful lap," said Norris, after claiming his first American pole and his fourth pole in five races as he seeks to overhaul Verstappen.
"I was not going to go much quicker than I did. When you just do a lap and you think 'damn, it's going to be tough to beat that... I put everything out on the line and it's what we needed to do.
"We've been on the back foot pretty much the whole weekend.
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