Root is a primary organ to respond to environmental stimuli and percept signals from neighboring plants. In this study, root responses in maize (Zea mays)/soybean (Glycine max) intercropping systems recognized soil phosphorus (P) status and neighboring plants in the field. Compared to self culture, the maize variety GZ1 intercropping with soybean HX3 grew much better on low P, but not in another maize variety, NE1. This genotypic response decreased with increasing distance between plants, suggesting that root interactions were important. We further conducted a detailed and quantitative study of root behavior in situ using a gel system to reconstruct the three-dimensional root architecture. The results showed that plant roots could integrate information on P status and root behavior of neighboring plants. When intercropped with its kin, maize or soybean roots grew close to each other. However, when maize GZ1 was grown with soybean HX3, the roots on each plant tended to avoid each other and became shallower on stratified P supply, but not found with maize NE1. Furthermore, root behavior in gel was highly correlated to shoot biomass and P content for field-grown plants grown in close proximity. This study provides new insights into the dynamics and complexity of root behavior and kin recognition among crop species in response to nutrient status and neighboring plants. These findings also indicate that root behavior not only depends on neighbor recognition but also on a coordinated response to soil P status, which could be the underlying cause for the different growth responses in the field.