The auto formatter doesnt seem to be as configurable for HTML as it is for C#.
When I type I get
Tool -> Options -> Text Editor -> HTML -> Format -> Tag Specific Options... -> Client HTML Tags -> div
Note the Line breaks: section; as well as a preview at the bottom.
Keep in mind this has to do with the formatting option of the HTML file itself; NOT how auto complete and IntelliSense operate within VS. Therefore without ReSharper I can go start an open div and close it and will get what you describe within the HTML document...
If I were to change that to...
...and hit CTRL+K, CTRL+D I would get...
...which is where the formatting begins to surface.