The increased deployment of electricity-based hydrogen production strengthens the coupling of power distribution system (PDS) and hydrogen energy system (HES). Considering that power to hydrogen (PtH) has great potential to facilitate the usage of renewable energy sources (RESs), the coordination of PDS and HES is important for planning purposes under high RES penetration. To this end, this paper proposes a multi-stage co-planning model for the PDS and HES. For the PDS, investment decisions on network assets and RES are optimized to supply the growing electric load and PtHs. For the HES, capacities of PtHs and hydrogen storages (HSs) are optimally determined to satisfy hydrogen load considering the hydrogen production, tube trailer transportation, and storage constraints. The overall planning problem is formulated as a multi-stage stochastic optimization model, in which the investment decisions are sequentially made as the uncertainties of electric and hydrogen load growth states are revealed gradually over periods. Case studies validate that the proposed co-planning model can reduce the total planning cost, promote RES consumption, and obtain more flexible decisions under long-term load growth uncertainties.