The ground doesn't move beneath you when you jump because you're going the same speed as the planet. Everything on Earth is going at the same speed as its rotation and same speed it's traveling through space.

It's the same reason you can jump on a bus or an airplane and not move either. You're accelerating at the same speed. However, if you jump and the bus speeds up or slows down, you do fall somewhere different. But the Earth doesn't speed up or slow down, so you never feel it and you always fall in the same place.