This study evaluated the mandibular development induced by rapid maxillary expansion (RME) therapy in mixed dentition patients with different vertical growth patterns through long-term observation. The research utilized a retrospective design that included two cohorts: a control group consisting of pediatric subjects with individualized malocclusions, and an experimental group received RME therapy. A total of 60 subjects were included; 37 in the RME group (17 males and 20 females) and 23 in the control group (13 males and 10 females). Based on mandibular plane angles, 19 pertinent cephalometric variables were quantified with Dolphin Imaging software, and participants were subclassified into high-angle and normal-angle subgroups. Changes in the groups during the observation period were statistically analyzed with a t-test. Compared to the control group, both sagittal parameters tended to decrease after treatment in the RME group (p < 0.05), and none of the vertical correlations were statistically different (p > 0.05). Within the normal-angle experimental subgroup, sagittal parameters markedly decreased when contrasted with their normal-angle control group (p < 0.05). Notably, a substantive decrease in overjet was solely observable in the sagittal dimension among the high-angle expansion subgroup when compared to the high-angle control subgroup (p < 0.05). In the vertical dimension, neither the normal-angle nor high-angle subgroups exhibited any statistically significant differences from their respective control cohorts (p > 0.05). Based on long-term observation, RME therapy promotes mandible sagittal growth of the mandible in subjects with normal-angle vertical growth patterns. A similar tendency was not observed in subjects with high-angle vertical growth patterns. In addition, the mandibular plane angle did not increase after RME in children with high-angles.