In this paper, we report the spatiotemporal dynamics of an intraguild predation (IGP)-type predator–prey model incorporating harvesting and prey-taxis. We first discuss the local and global existence of the classical solutions in N-dimensional space. It is found that the model has a global classical solution when controlling the prey-taxis coefficient in a certain range. Thereafter, we focus on the existence of the steady-state bifurcation. Moreover, we theoretically investigate the properties of the bifurcating solution near the steady-state bifurcation critical threshold. As a consequence, the spatial pattern formation of this model can be theoretically confirmed. Importantly, by means of rigorous theoretical derivation, we provide discriminant criteria on the stability of the bifurcating solution. Finally, the complicated patterns are numerically displayed. It is demonstrated that the harvesting and prey-taxis significantly affect the pattern formation of this IGP-type predator–prey model. Our main results of this paper reveal that (i) The repulsive prey-taxis could destabilize the spatial homogeneity, while the attractive prey-taxis effect and self-diffusion will stabilize the spatial homogeneity of this model. (ii) Numerical results suggest that over-harvesting for prey or predators is not advisable, it can lead to an ecological imbalance due to a significant reduction in population numbers. However, harvesting within a certain range is a feasible approach.