The possiblity of the existence of a spontaneous relaxor-normal ferroelectric transition was proposed and examined using 1~5 mol% PbZrO3-doped Pb(Ni1/3Nb2/3)O3-PbTiO3 (PNN-PT) systems having tetragonal symmetry at rom temperature. On cooling, the system with 60mol% Pb(Ni1/3Nb2/3)O3 underwent a spontaneous transition from a relaxor to a normal ferroelectric state. A microscopic examination demonstrates that the relaxornormal ferroelectric transition corresponds to a micro-macro domain switching accompanied with thermoelastic martensitic transformation. The long-range macrodomains below the transition temperature were characterized by twinlike 90$^{circ}$macrodomains with tetragonal symmetry. The relaxor-normal ferroelectric transition was further correlated with the rhombohedral-tetragonal first-order structural transition.