According to the standard cold dark matter (CDM) cosmology, the structure of dark halos including those of galaxy clusters reflects their mass accretion history. Older clusters tend to be more concentrated than younger clusters. Their structure, represented by the characteristic radius $r_s$ and mass $M_s$ of the Navarro-Frenk-White (NFW) density profile, is related to their formation time. In this study, we show that $r_s$, $M_s$, and the X-ray temperature of the intracluster medium (ICM), $T_X$, form a thin plane in the space of $(\log r_s, \log M_s, \log T_X)$. This tight correlation indicates that the ICM temperature is also determined by the formation time of individual clusters. Numerical simulations show that clusters move along the fundamental plane as they evolve. The plane and the cluster evolution within the plane can be explained by a similarity solution of structure formation of the universe. The angle of the plane shows that clusters have not achieved “virial equilibrium” in the sense that mass/size growth and pressure at the boundaries cannot be ignored. The distribution of clusters on the plane is related to the intrinsic scatter in the halo concentration--mass relation, which is originated from the variety of cluster ages. The well-known mass--temperature relation of clusters ($M_\Delta\propto T_X^{3/2}$) can be explained by the fundamental plane and the mass dependence of the halo concentration without the assumption of virial equilibrium. The fundamental plane can also be used for calibration of cluster masses.