There are two ways to connect your Android device with ADB over TCP?
First way
Follow this steps
First use below command to get your device IP Address
adb shell ifconfig
OUTPUT of above command
wlan0 Link encap:UNSPEC Driver icnss
inet addr:XXX.XXX.X.XX Bcast:XXX.XXX.X.XXX
With the help you above command you will find the IP Address of connected device
Now use below command
adb tcpip 5555
The above command will restart this TCP port: 5555
Now use below command to connect your device
adb connect XXX.XXX.X.XXX:5555
^^^ ^^^ ^ ^^^
IP Address of device
Second way
You can use Android Studio Plugin Android device with ADB
Android WiFi ADB - IntelliJ/Android Studio Plugin
IntelliJ and Android Studio plugin created to quickly connect your Android device over WiFi to install, run and debug your applications without a USB connected. Press one button and forget about your USB cable
Please check this article for more information
Connect Android Device with Wifi within Android Studio