Misalignments between the transmitter and receiver coils would in some cases lead to a significant decline in transmission power and efficiency in the wireless power transfer system. This study presents an integrated two-layer receiver to improve the tolerance of horizontal misalignment. On the lower layer of the integrated receiver, two coplanar spiral coils, which are decoupled and work as the auxiliary repeater, are designed to help keep a stable power transmission between transmitter coils on the track and the main receiver coil on the upper layer. Then, the optimisation model based on the Bayesian algorithm is established for the proposed receiver structure and some key parameters are optimised. A sensor-coil-based positioning approach is also proposed to achieve on–off control of the transmitter coils. The simulation results show that the system based on the optimised integrated receiver has a stable output power with a variation lower than 13.17%. Two 300 W dynamic charging prototypes based on the integrated receiver and conventional spiral receiver, respectively, have been developed to verify the effectiveness of the proposed design and the optimisation method. The experimental results match well with the simulation results.