With high conductivity and ionic mobility, one-dimensional (1D) titanium dioxide (TiO2) nanoarrays have attracted great interest in the photoanode of solar cells and the cathode of lithium-ion/sodium-ion batteries. However, the synthesis of TiO2 nanoarrays often requires highly toxic or corrosive solution circumstances. Meanwhile, the case that most TiO2 nanoarrays are grown on rigid conductive substrate can’t satisfy the demand for application in the space of complex shape. In this work, we developed a simple method to prepare highly ordered single crystalline rutile TiO2 nanorod arrays with high density on flexible metal Ti substrate in relatively weak acid solution, and the orientation of the nanorods were more uniform than those by other means ever before. Based on detailed analysis, an ion-assisted and concentration-limited epitaxial growth mechanism by H+ and is proposed for this uniformly ordered rutile TiO2 nanorod array. This work can promote the research and application of flexible solar cells and lithium-ion batteries, especially their integration.