A hydrophilic copolymer is designed and synthesized by copolymerization of an acidic monomer and a second hydrophilic monomer. The copolymer is non-thrombogenic, hydrophilic and incorporates reactive functional groups. The copolymer can then be covalently attached to a primer/base coat through its functional groups, to form a durable lubricious coating on medical devices. A coating formed of the polymer on a surface is non-thrombogenic and non-cytotoxic. The coating shows good stability in gamma ray, e-beam and ethylene oxide sterilization.