With globalization and informatization, cross-border areas have become increasingly critical interactive spaces, experiencing rapid development and extensive changes in residents’ cross-border travel, constantly changing the spatial patterns of neighboring cities. However, existing studies lack in-depth discussions of the new spatiotemporal characteristics of human activities, spatial pattern evolution, and the driving factors behind them. Therefore, taking the Guangzhou-Foshan metropolitan area as a case, this paper focus on the analysis of the cross-city travel of residents in these border areas in 2019, and investigated the evolution of spatial patterns and the driving forces in the border area during 1985–2020. We found that, instead of the previous one-way attraction pattern caused by the spread of residence, a large number of cross-city trips for leisure and entertainment purposes emerged, and the one-way unbalanced flow, “Foshan to Guangzhou”, changed to two-way circulation. We also explore the scenario in which the travel behavior of urban dwellers in these two cities considerably interacts with the effect of urban structure to produce the observed mobility patterns. Second, we determined the spatial pattern of the Guangzhou-Foshan region from 1985 to 2020 to be on of spreading expansion, with Liwan District as the central core, connecting to several sub-centers. The cross-border area in the Guangzhou-Foshan region represented a compact, extremely high degree of integration and a well-matched functional space. Third, driven by the forces stemming from the planning guidelines and the improving transportation network construction in the border area, the growth points of the two cities continued to expand toward the borderline regarding integrated development, while the growth axis was mainly in the direction of the city border, urban arterial roads, and subway lines. We concluded with development suggestions for increasing travel interactions and optimizing spatial patterns to build a common vision of the whole Guangzhou-Foshan pattern of integration.