Plant cytoskeleton consisting of microtubules (MTs) and actin filaments (AFs) plays diverse irreplaceable roles in plant development and response to environmental stimuli. The cytoskeleton forms a highly dynamic and tightly regulated network which offers microenvironments for intra- and inter-cellular communication and physiological events. Plant endomembrane system is composed of membrane-enclosed compartments including the endoplasmic reticulum (ER), the Golgi apparatus, the endosome, the vacuole, etc. These compartments communicate with each other and are essential for cellular activities such as vesicle trafficking, proliferation, immunity and stress response. The ER is the platform for protein synthesis and the initiation site of secretory pathway. Maintenance of plant ER morphology and dynamics mainly depends on actin cytoskeleton. The ER-Cplasma membrane (PM) contact site (EPCS) is a common feature in eukaryotic organisms which is implicated in endomembrane dynamics, cytoskeleton organization and intercellular communication. EPCSs also function as signaling platforms response to environmental stimuli. Cortical cytoskeleton composed of cortical MTs (cMTs) and cortical AFs (cAFs) cooperates with the PM, cell wall and phytohormone to regulate plant cell division, morphogenesis and defense. The interplay between the cellular structures and signals is strictly controlled by diverse factors and signaling pathways. In brief, the endomembrane system cooperates with cytoskeleton network for regulation of plant development and environmental stimuli response and adaption. Here, we summarize the current knowledge to highlight the synergism of plant cytoskeleton network and endomembrane system in regulation of plant development and defense.