Semantic parsing, which converts natural language queries into logic forms, plays a crucial role in reasoning within structured environments. However, existing methods encounter two significant challenges: reliance on extensive manually annotated datasets and limited generalization capability to unseen examples. To tackle these issues, we propose Targeted Synthetic Data Generation (Targa), a practical framework that dynamically generates high-relevance synthetic data without manual annotation. Starting from the pertinent entity and relation of a given question, we probe for the potential relevant queries through layer-wise expansion and cross-layer combination. Then, we generate corresponding natural language questions for these constructed queries to jointly serve as the synthetic demonstration for in-context learning. Experiments on multiple knowledge-based question answering (KBQA) datasets demonstrate that Targa, using only a 7B-parameter model, substantially outperforms existing non-fine-tuned methods that utilize close-sourced model, achieving notable improvements in F1 scores on GrailQA(+7.7) and KBQA-Agent(+12.2). Furthermore, Targa also exhibits superior sample efficiency, robustness, and generalization capabilities under non-I.I.D. settings.