Thermal energy storage (TES) systems have been proven in their capacity as a crucial component of energy grids relying on renewable sources. An established sensible heat storage technology is a packed-bed TES, employing a granular filling material as a heat storage medium, which is subjected to repeated heating-cooling cycles. As a result of the recurring particle expansion and contraction, excessive stresses and strains can develop and cause material damage. This leads to the increasing need for reliable numerical tools in order to improve the TES design and increase their durability. For this purpose, we propose a continuous thermo-mechanical approach, within the framework of the theory of hypoplasticity, that can accurately predict the single as well as cyclic loading behavior of the filling material. This work focuses on the stress–strain relations and compaction mechanisms of the granular bed in contact with a storage wall with variable inclination and friction coefficient. Furthermore, the important aspect of the wall expansion under the temperature change is also taken into account as well as the specific case when the wall expands more than the granular material. By conducting comprehensive simulations, we demonstrate that our novel numerical model adheres to existing experimental investigations and mitigates shortcomings in the predictive capabilities of previous continuous approaches.