Plant growth-promoting rhizobacteria (PGPR) can promote lateral root formation, while the underlying mechanisms are not fully understood. Here, we found that Pseudomonas chlororaphis subsp. aurantiaca inoculation enhanced auxin accumulation in lateral root primordia (LRP). Upon reaching LRPs, auxin activated the AUXIN RESPONSE FACTOR 7 and 19 (ARF7/19) and promoted lateral root formation in Arabidopsis. Moreover, we found that reactive oxygen species (ROS) is required for auxin-dependent lateral root emergence, and P. chlororaphis upregulated the expression of RESPIRATORY BURST OXIDASE D and F (RBOHD/F), leading to the accumulation of ROS in LRP. Although scavenging ROS or rbohd/f mutants exhibited decreased lateral roots after P. chlororaphis inoculation, the bacteria-triggered auxin signals were not altered. Conversely, the application of auxin or mutants defective in auxin signaling disturbed P. chlororaphis-derived ROS accumulation in lateral roots. Collectively, these results suggest that ARF7/19-dependent auxin signaling activates RBOHD/F to produce ROS, coordinately facilitating lateral root development after P. chlororaphis treatment.