This study investigated the relationship between teacher support in the areas of learner autonomy, relatedness, and competence, and motivational beliefs regarding achievement goal orientations and perceived task value in Chinese EFL college classrooms based on self-determination theory. A questionnaire was administered to 712 college students, and the data were analyzed using SPSS 26.0 and AMOS 24.0. The findings indicated that teacher support for autonomy, relatedness, and competence was positively correlated with mastery goal orientation and performance-approach orientation, while it was negatively correlated with performance-avoidance orientation. Furthermore, these forms of teacher support positively influenced students' perceived task value. Achievement goal orientation mediated the relationship between the three types of teacher support and student engagement. However, perceived task value only mediated the relationship between teacher autonomy support and student engagement. This study offers valuable insights for enhancing English teaching practices by promoting student motivation through addressing their psychological needs in EFL college classrooms.