The Guangdong–Hong Kong–Macau Greater Bay Area (GBA) of China is one of the major bay areas in the world. However, the spatiotemporal characteristics and rationalities of urban expansions within this region over a relatively long period of time are not well-understood. This study explored the spatiotemporal evolution of 11 cities within the GBA in 1987–2017 by integrating remote sensing, landscape analysis, and geographic information system (GIS) techniques, and further evaluated the rationalities of their expansion using the urban area population elastic coecient (UPEC) and the urban area gross domestic product (GDP) elastic coecient (UGEC). The results showed the following: (1) Guangzhou, Shenzhen, Foshan, Dongguan, Zhongshan, and Zhuhai experienced unprecedented urbanization compared with the other cities, and from 1987 to 2017, their urban areas expanded by 10.12, 11.48, 14.21, 24.90, 37.07, and 30.15 times, respectively; (2) several expansion patterns were observed in the 11 cities, including a mononuclear polygon radiation pattern (Guangzhou and Foshan), a double-nucleated polygon pattern (Macau and Zhongshan), and a multi-nuclear urbanization pattern (Shenzhen, Hong Kong, Dongguan, Jiangmen, Huizhou, Zhaoqing, and Zhuhai); (3) with regard to the proportion of area, the edge-expansion and outlying growth types were the predominant types for all 11 cities, and the infilling growth type was the one of the important types during 2007–2017 for Shenzhen, Hong Kong, Dongguan, Zhongshan, and Foshan; (4) the expansion of most cities took on an urban-to-rural landscape gradient, especially for Guangzhou, Shenzhen, Foshan, Zhongshan, Dongguan, and Zhuhai; and (5) the rationalities of expansion in several time periods were rational for Guangzhou (1997–2007), Hong Kong (2007–2017), Foshan (1987–2007), Huizhou (1987–1997), and Dongguan (1997–2007), and the rationalities of expansion in the other cities and time periods were found to be irrational. These findings may help policy- and decision-makers to maintain the sustainable development of the Guangdong–Hong Kong–Macau Greater Bay Area.