Accurately predicting the horizontal component of ground magnetic field perturbation (\text{d}$B_{\text{H}}$), a key quantity for calculating the geomagnetically induced currents (GICs), is crucial for assessing the space weather impact of geomagnetic disturbances. The current operational first-principles Michigan Geospace model can predict \text{d}$B_{\text{H}}$ with positive Heidke Skill Scores, but requires significant computational resources to achieve real-time speeds. Existing data-driven methods tend to underpredict \text{d}$B_{\text{H}}$ and lack uncertainty quantification, which is either overlooked or treated as secondary. In this work, we introduce GeoDGP, a novel and efficient data-driven model based on the deep Gaussian process (DGP). GeoDGP provides global probabilistic forecasts of \text{d}$B_{\text{H}}$ with a lead time of at least 1 hour, and at 1-minute time cadence and with arbitrary spatial resolution. The model takes solar wind measurements, the Dst index, and the prediction location in solar magnetic coordinate system as inputs, and is trained on 28 years of data from SuperMAG global magnetometer stations. Additionally, GeoDGP is also trained to predict the north (\text{d}$B_{\text{N}}$) and east (\text{d}$B_{\text{E}}$) components of perturbations. We evaluate GeoDGP’s performance at over 200 stations worldwide during 24 geomagnetic storms, including the Gannon extreme storm of May 2024. Comparisons with the first-principles Michigan Geospace model and the data-driven DAGGER model revealed that GeoDGP significantly outperforms both across multiple performance metrics.