The outbreak of COVID-19 has brought increasing attention to proximity travel. This mode of travel is a convenient travel setup for both tourists and neighboring destinations. With the help of the model of goal-directed behavior (MGB), this study investigates the influence of tourists’ perception of epidemic risk on their intentions for proximity travel during the normalization of epidemic prevention and control. This study takes Shenzhen, China as the research area, and carried out the investigation in the context of normalization of the epidemic in China. A total of 489 pieces of valid sample data were collected through questionnaire surveys. Statistical analysis software, such as SPSS26.0 and AMOS23.0, were used to analyze the collected data information quantitatively, including descriptive statistical analysis, reliability and validity test, CFA and SEM. The results showed that attitude, subjective norms, positive anticipated emotions, and perceptual behavior control have significant positive effects on travel desire. Travel desire has a significant positive impact on travel intention, whereas negative anticipated emotions have no significant effect on travel desire. Meanwhile, the epidemic risk perception has a significant positive effect on attitudinal travel desire and travel intention. Under the background of the COVID-19, the stronger that the epidemic risk is perceived by tourists, the more the desire and intention to proximity travel are enhanced.