A complete search of the internet has found these results:
Are you coming with us? is the most popular phrase on the web.
Both phrases have almost the same meaning in most cases. "Are you coming with?" does not specify whether the speaker is alone or with other people. "Are you coming with us?" specifies that the speaker is with other people. Both phrases are very commonly used.
3,002,777 results on the web
We’re going to the new Italian restaurant—are you coming with us?
Are you coming with us to the park?
Hey Bob, are you coming with us?
He asked me, “Are you coming with us?”
After I asked “Are you coming with us?” Jen nodded and got her bag.
I wanted to ask “Are you coming with us?” but I was too nervous.
We’re planning to go to Hawaii in May—are you coming with us?
Are you coming with us to see the new Marvel movie tonight?
Are you coming with us to the French restaurant or are you going with them to the Mexican restaurant?
“Are you coming with us?” I asked my dog as my friends and I were getting ready to leave my apartment.
The team captain sent an email asking “Are you coming with us to the tournament this weekend?”
2,000,399 results on the web
I am going to the restaurant tonight around 8:00. Are you coming with?
Are you coming with or are you staying here?
We will have drinks after work. Bill asked me whether you are coming with.
There is a big festival a few of us are attending this weekend in the city. Are you coming with?
Are you coming with the rest of us, or are you staying at home?
One thing I forgot to ask you on Friday, are you coming with the team or taking your own car to the tournament?
Is he coming with or staying here?