A method of providing a therapeutic, diagnostic or lubricious hydrophilic coating on an intracorporeal medical device and the coated device produced thereby, wherein the coating is durable. In one embodiment, the coating comprises a polymerized base coat and a therapeutic, diagnostic or hydrophilic top coat, where the base coat has a binding component which binds to the top coat, and a grafting component which binds to the binding component and adheres to the device. In another embodiment, the coating comprises a blend of a hydrophilic compound, a grafting component, and salt, wherein the polymerized grafting component contains uncrosslinked domains. The coating of the invention may be applied to a medical device with a polymeric surface such as a polymeric catheter, or a metal device coated with a polymeric primer or without a primer, or to a stent.