We present a controlled bond expansion (CBE) approach to simulate quantum dynamics based on the time-dependent variational principle (TDVP) for matrix product states. Our method alleviates the numerical difficulties of the standard, fixed-rank one-site TDVP integrator by increasing bond dimensions on the fly to reduce the projection error. This is achieved in an economical, local fashion, requiring only minor modifications of standard one-site TDVP implementations. We illustrate the performance and accuracy of CBE-TDVP with several numerical examples on finite quantum lattices, including new results on bipolaron formation in the Peierls-Hubbard model and spin pumping via adiabatic flux insertion in a chiral spin liquid.