In this work, a fully-continuous hydrologic–hydraulic modeling framework for flood mapping is introduced and tested. It is characterized by a simulation of a long rainfall time series at sub-daily resolution that feeds a continuous rainfall–runoff model producing a discharge time series that is directly given as an input to a bi-dimensional hydraulic model. The main advantage of the proposed approach is to avoid the use of the design hyetograph and the design hydrograph that constitute the main source of subjective analysis and uncertainty for standard methods. The proposed procedure is optimized for small and ungauged watersheds where empirical models are commonly applied. Results of a simple real case study confirm that this experimental fully-continuous framework may pave the way for the implementation of a less subjective and potentially automated procedure for flood hazard mapping.