Using satellite remote sensing data and the threshold panel model, this research explores the impact of urban spatial structure on urban energy intensity. The evaluation index of urban spatial structure includes compactness and elongation rate. Results from empirical studies of 30 cities in China from 1996 to 2016 indicate that urban spatial structure has a significant impact on urban energy intensity. There is a positive correlation between urban spatial structure elongation rate and urban energy intensity. However, with the increase in urban fixed assets investment, there is a negative correlation between elongation rate and energy intensity, which implies an inverted‐U relationship. The results also indicate that urban compactness is negatively correlated with urban energy intensity. Therefore, proper management of urban spatial structure can effectively promote the reduction in urban energy intensity. The elongation of urban suburb space and the compactness with the internal space of the city can be developed simultaneously. While playing the role of a spatial agglomeration economy, the negative effects of over agglomeration are avoided, which jointly promote the reduction in urban energy intensity.