Domestic detailed engineering specifications have been formed on expressways, but research is lack on the origin of expressway system planning theory from the perspective of urban development. The classic urban planning theories since the first industrial revolution started the process of urban motorized traffic are sorted out, and the theoretical evolution of expressway development from passively adapting to urban space expansion to actively guiding urban spatial layout is analyzed, and the formation process of expressway planning concepts is studied. Compare the history of expressway development at home and abroad, and summarize the characteristics of the “bottom-up” development of expressways in China. Taking Wuhan as an example, from the perspective of urban space planning, suggestions are made for the improvement and development of the expressway system in large cities.