We present the confirmation and characterisation of GJ 3473 b (G 50--16, TOI-488.01), a hot Earth-sized planet orbiting an M4 dwarf star, whose transiting signal ($P=1.1980035pm0.0000018mathrm{,d}$) was first detected by the Transiting Exoplanet Survey Satellite (TESS). Through a joint modelling of follow-up radial velocity observations with CARMENES, IRD, and HARPS together with extensive ground-based photometric follow-up observations with LCOGT, MuSCAT, and MuSCAT2, we determined a precise planetary mass, $M_b = 1.86pm0.30,mathrm{M_oplus},$ and radius, $R_b = {1.264pm0.050},mathrm{R_oplus}$. Additionally, we report the discovery of a second, temperate, non-transiting planet in the system, GJ 3473 c, which has a minimum mass, $M_c sin{i} = {7.41pm0.91},mathrm{M_oplus,}$ and orbital period, $P_c={15.509pm0.033},mathrm{d}$. The inner planet of the system, GJ 3473 b, is one of the hottest transiting Earth-sized planets known thus far, accompanied by a dynamical mass measurement, which makes it a particularly attractive target for thermal emission spectroscopy.