Abstract: Urban rural integrated development is an important way to implement the goal of Chinese path to modernization. The coupling and coordinated development of rural public service system and urban-rural integration is of great significance for the implementation of the rural revitalization strategy and the ultimate realization of common prosperity. This article is based on the connotation of rural public service system and urban-rural integration, and constructs two comprehensive evaluation index systems. The entropy method and coupling coordination model are used to calculate the coupling and coordination of rural public service system and urban-rural integration in 16 cities in Shandong Province from 2010 to 2021. A grey correlation model is constructed to analyze the driving factors of coupling and coordination between the two systems. At the theoretical level, the impact mechanism of rural basic public service system on urban-rural integration development is explained, At the same time, it innovatively evaluates the level of urban-rural integration development from two dimensions: regional heterogeneity and the degree of factor influence, and identifies the main driving factors. The results indicate that: (1) The rural public service system and urban-rural integration evaluation index in Shandong Province showed an increasing trend from 2010 to 2021; (2) The coordinated development of urban and rural areas in the central region of Shandong has increased by 35.40%, the southern region of Shandong has increased by 33.45%, the western region of Shandong has increased by 32.05%, and the eastern region of Shandong has increased by 32.01%. There are regional differences in the degree of coordinated development of urban and rural integration, but the gap between urban and rural development in the eastern and western regions is gradually narrowing, gradually forming a situation of complementary urban-rural advantages and high-quality development integration; (3) The grey correlation coefficient of urbanization level is 0.973, which is the main driving factor for the coordinated development of rural basic public service system and urban-rural integration. According to the research conclusions, this paper puts forward policy implications such as improving financial subsidies for farmers, improving transport infrastructure, and optimizing talent training policies.