To achieve high-thrust-density operation, we propose electrostatic-magnetic hybrid ion acceleration in which the empirical thrust density limit of the electrostatic acceleration is surpassed without violent plasma oscillation by combing the collisional momentum transfer mechanism, which is the ion acceleration mechanism of the electromagnetic acceleration. To achieve hybrid ion acceleration, we experimentally obtained two design criteria: one near anode propellant injection and another at the on-axis hollow cathode location. The thrust characteristics of three thrusters composed of a slowly diverging magnetic field between an on-axis hollow cathode and a coaxially set ring anode were examined. By injecting xenon propellant along the anode inner surface, the electron impact ionization process was enhanced, and generated ions are electrostatically accelerated through the radial-inward potential gradient perpendicular to the axial magnetic lines of force. The hybrid ion acceleration characteristics were obtained only if these two criteria were satisfied and the obtained thrust was consistent with the thrust formula derived for steady-state, quasi-neutral plasma flows. In addition to the criteria, strengthening the magnetic field and enhancing the propellant mass flux were effective for improving thrust density without deteriorating thrust efficiency. Among the experimental conditions in this study, the maximum thrust density was 70 N/m2 with an anode specific impulse of 1200 s, which cannot be achieved in a purely electrostatic thruster with thrust density 6.3 times than that of a typical Hall thruster.