Image hiding has received significant attention due to the need of enhanced multimedia services, such as multimedia security and meta-information embedding for multimedia augmentation. Recently, deep learning-based methods have been introduced that are capable of significantly increasing the hidden capacity and supporting full size image hiding. However, these methods suffer from the necessity to balance the errors of the modified cover image and the recovered hidden image. In this paper, we propose a novel joint compressive autoencoder (J-CAE) framework to design an image hiding algorithm that achieves full-size image hidden capacity with small reconstruction errors of the hidden image. More importantly, it addresses the trade-off problem of previous deep learning-based methods by mapping the image representations in the latent spaces of the joint CAE models. Thus, both visual quality of the container image and recovery quality of the hidden image can be simultaneously improved. Extensive experimental results demonstrate that our proposed framework outperforms several state-of-the-art deep learning-based image hiding methods in terms of imperceptibility and recovery quality of the hidden images while maintaining full-size image hidden capacity.