Multivariate time series forecasting is of central importance in modern intelligent decision systems. The dynamics of multivariate time series are jointly characterized by temporal dependencies and spatial correlations. Hence, it is equally important to build the forecasting models from both perspectives. The real-world multivariate time series data often presents spatial correlations that show structures and evolve dynamically. To capture such dynamic spatial structures, the existing forecasting approaches often rely on a two-stage learning process (learning dynamic series representations and then generating spatial structures), which is sensitive to the small time-window input data and has high variance. To address this, we propose a novel forecasting model with a structured matrix basis. At its core is a dynamic spatial structure generation function whose output space is well-constrained and the generated structures have lower variance, meanwhile, it is more expressive and can offer interpretable dynamics. This is achieved via a novel structured parameterization and imposing structure regularization on the matrix basis. The resulting forecasting model can achieve up to 8.5% improvements over the existing methods on six benchmark datasets, and meanwhile, it enables us to gain insights into the dynamics of underlying systems.