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The scaling relations between city attributes and population are emergent and ubiquitous aspects of urban growth. Quantifying these relations and understanding their theoretical foundation, however, is difficult due to the challenge of defining city boundaries and a lack of historical data to study city dynamics over time and space. To address this issue, we analyze scaling between city infrastructure and population across 857 metropolitan areas in the conterminous United States over an unprecedented 115 years (1900–2015) using dasymetrically refined historical population estimates, historical urban road network models, and multi-temporal settlement data to define dynamic city boundaries. We demonstrate that urban scaling exponents closely match theoretical models over a century. Despite some close quantitative agreement with theory, the empirical scaling relations unexpectedly vary across regions. Our analysis of scaling coefficients, meanwhile, reveals that contemporary cities use more developed land and kilometers of road than cities of similar population in 1900, which has serious implications for urban development and impacts on the local environment. Overall, our results provide a new way to study urban systems based on novel, geohistorical data.