I would strongly recommend not counting on a rebooking or any guaranteed compensation of any kind. The likelihood of it happening would probably depend greatly on the airline's overall reputation for service in general. For instance, a poor-quality or cheap carrier I would expect would fight a rebooking as much as possible.
On the other end of the spectrum are carriers known for their good service. A personal experience is that a family member of mine always gets stopped at US Customs for secondary screening when arriving on Air New Zealand. Usually it's not a big issue, but this time we already had a short connection and a delay on the Air New Zealand flight, plus an Emirates A380 dumped their entire load of 500+ passengers in the Customs line at once.
Even some passengers who didn't get stopped (only delayed by the line) in Customs were missing their connections, so when we get to the rebooking counter the agent was automatically offering everyone a rebooking, plus a hotel stay and a very generous dinner and breakfast allowance. We ended up not being out any cost for the situation. I wouldn't have trusted United or American to do the same if the booking had been through them, and I'm sure Delta would offer the rebooking but might not offer a similar hotel/food compensation.
TLDR: If you're booking on an carrier known for poor service, you're probably not going to see any compensation. If you're booking on a carrier known for their good service (like AirNZ) and/or there's a delay involved, there's a good chance they'll be offering it without you even asking, especially if you're not the only person missing the connection. In our case there were at least 12 of us from multiple parties who missed connections from our flight.