Iam a foreigner, with a tourist visa expired on December 2018.
I applied for tourist visa extension and my case is still pending.
Can I travel domestically the US with my expired visa?
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Yes, but be aware that airline passenger manifests are transmitted to various law enforcement agencies.
Meaning, if ICE or another agency is specifically looking for you, they'll know where to find you.
Provided your foreign Passport is still valid, you can use that at the terminal entrance. TSA does not check Visas during the screening process.
If you're driving or taking a bus or train, ID is rarely required. At least I've never been asked for ID on Amtrak.