We have innovatively designed and assessed the hydrogen storage properties of a single Ti-doped C20 nanocage and its B, N or B and N heteroatom substituted derivatives with the help of the density functional theory approach for the first time to the best of our knowledge. Out of fifteen designed structures by substituting heteroatoms, only 8 structures are found to be suitable for Ti doping and H2 adsorption viz. C20, C12N8, C12B8, C12B4N4, C10B5N5, C10B10, B10C10 and B10N10. Their formation energy and cohesive energy values confirm the stability of all the structures. Ti atom binds more strongly with B, N or B and N heteroatom substituted C20 nanocage than unsubstituted C20 nanocage which is necessary to avoid clustering for multiple Ti doped nanocages. Among the eight Ti doped nanocages considered, H2 molecules strongly interact with Ti-doped C12B4N4 nanocage. The binding strength of Ti atom with nanocages decreases during the hydrogen adsorption process. The obtained H2 adsorption energy values for all the structures are within the range of 0.2–0.7 eV, which is conducive to reversible hydrogen storage. Calculated Gibbs free energy-corrected H2 adsorption energy values at different temperature and pressure indicate favorable H2 adsorption over the entire pressure range at room temperature. For Ti doped C20, C12N8, C12B8, C10B5N5, C10B10, B10N10, and B10C10 nanocages, H2 adsorption is thermodynamically favorable below 360, 350, 300, 285, 235, 277, and 251 K, respectively at 1 atm pressure. From PDOS analysis, it is observed that the 1s orbital of H overlaps with 3d orbital of Ti atom. The highest H2 desorption temperature is observed for the C12B4N4Ti nanocage, and the lowest for C10B10Ti, aligning well with the calculated adsorption energy values. As H2 desorption temperature is high, the stability of Ti-doped nanocages at high temperature (634 K) is confirmed using ab initio molecular dynamics simulations. Bader's quantum theory in atoms in molecules is used to prove the weak non-covalent interaction between all the atoms. Display omitted •C20Ti and its B, N or B and N substituted derivatives are considered for H2 storage.•Substitution of heteroatoms in C20Ti enhances the binding strength of Ti atom.•B10C10Ti is the most stable among the eight Ti doped nanocages considered.•Favorable H2 adsorption for wide range of pressure at room temperature.•H2 molecule shows better affinity with C12B4N4Ti.