This study investigates robust features of interdecadal changes in the Northern hemisphere summer tropical-extratropical teleconnection occurred around the mid-to-late 1990s by analyzing four different reanalysis data for atmospheric circulation and temperature, two precipitation reconstructions, and two sea surface temperature (SST) data during the satellite observation era of 1980~2017. For the last 38 years, there has been a significant increasing trend in anticyclonic circulation at lower and upper troposphere and 2 m air temperature with wavenumber-5 Rossby wave structure in the Northern Hemisphere (NH) extratropics. The increase has been accompanied with the significant weakening and northward shift of jet stream over Eurasia and the North Pacific. It is further found that there has been a significant interdecadal shift occurred around the mid-to-late 1990s in the two distinct modes of tropical-extratropical teleconnection: Western Pacific-North America (WPNA) and circumglobal teleconnection (CGT) pattern. After mid-to-late 1990s, the WPNA has played more important role in modulating the extratropical atmospheric circulation and surface climate, which has been preferentially occurred during the El $Ni{\tilde{n}}o$-Southern Oscillation (ENSO) decaying or transition summer such as 1998, 2010 and 2016. During these summers, severe heat waves were occurred over many parts of the NH extratropics due to the combined effect of the increasing trend in the barotropic anticyclonic circulation and the significant WPNA across the NH. Although weakened, the CGT also contributed to some of hot summers over many parts of the NH extratropics such as 1999, 2000, 2008, 2011, and 2012 when weak to moderate La $Ni{\tilde{n}}o$ was persisted.