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As basic units of urban areas, urban functional zones (UFZs) are fundamental to urban planning, management, and renewal. UFZs are mainly determined by human activities, economic behaviors, and geographical factors, but existing methods 1) do not fully use multimodal geographic data owing to a lack of semantic modeling and feature fusion of geographic objects and 2) are composed of multiple stages, which lead to the accumulation of errors through multiple stages and increase the mapping complexity. Accordingly, this study designs a multimodal data fusion framework (MDFF) to map fine-grained UFZs end-to-end, which effectively integrates very-high-resolution remote sensing images and social sensing data. The MDFF extracts physical attributes from remote sensing images and models socioeconomic semantics of geographic objects from social sensing data, and then fuses multimodal information to classify UFZs where object semantics guide the fine-grained classification. Experimental results in Beijing and Shanghai, two major cities of China, show that the MDFF greatly improves the quality of UFZ mapping with the accuracy about 5% higher than state-of-the-art methods. The proposed method significantly reduces the complexity of UFZ mapping to complete the urban structure analysis conveniently.