Understanding the thermal structure of protoplanetary disks (PPDs) is crucial for elucidating the formation of rocky planets. We present 2D global radiative magnetohydrodynamic (MHD) simulations of the inner region of PPDs which take into account all three non-ideal MHD effects, irradiation, and Joule heating due to the global magnetic structure. The thermal structure consistent with the disk dynamics is calculated using a simplified radiative transfer method that is computationally efficient. Our simulations show that strong Joule heating primarily takes place at the strong current layer at the disk surface where global magnetic fields bend, which does not significantly heat the disk midplane. This is the case whether the poloidal magnetic field is aligned or anti-aligned. As a result, the temperature structure of PPDs, even at a few au, is mainly determined by irradiation heating. We also report episodic and supersonic gas accretion at the disk surface associated with more realistic treatment of disk thermodynamics.