Don't know if there is an official term for that. It was just the normal/usual pattern of development all over the world for thousands of years. How about "Classical or Traditional urban development"?
However in "Urban-Rural Transect" terms what your describing would be a T-4 to T-5 urban transect.
http://www.transect.org/transect.htmlWhen a small town or village center would start, or an urban street expands what you would typically see is shops and businesses building one next to the other so that people could easily walk to your business, or home. Often there would be another business above or even living above. Behind this row you would typically find small apartment buildings, then behind that more single residential type homes. The core street would evolve by becoming more dense, elongated and branched. One and two story buildings on the main street would get taller, the apartment buildings behind would become taller and more numerous, sometimes with some of those streets beginning to have ground floor retail and so on. More population in the area would support more pedestrian friendly businesses that would extend the streets further and so on. Notice no mention of parking garages lol. The area grows on it's own as an urban area and mass transit begins to come into play to cater to those coming from areas farther away.
http://www.transect.org/cities_img.html (look at the high resolution image for the city of Fayetteville)
You can see good examples of the start of this T-4 transect on Cherry street. Shops, businesses, etc. on the main strip. Right behind in many areas are small, older apartment buildings, then behind that the single family homes. If the "car culture" fad thing had not intervened, and the "traditional/historic" way of developing not been made illegal in Tulsa this area could have eventually evolved into an even denser T-5 urban transect. Our downtown core is a T-6, then, once upon a time, you would have seen streets branching out from that being T-5's and T-4's (not parking lots), and so on.