I know the famous laconic reply "If" that the Spartans replied with when Philip II sent his ultimatum. However, I don't know if any fighting actually occurred between them.
There was no conflict between Phillip II and Sparta, principally because there was no need to include Sparta in the League of Corinth. The power of Sparta had been broken at the Battle of Leuctra in 371 BC. The loss of a large number of warriors crippled Sparta since their pool of citizens was always very small and it took a generation or more to replace even a small number of casualties.
There was a battle between Sparta and Macedonia whilst Alexander was away conquering Persia.
The Spartan King, Agis III, decided it would be a fabulous idea to recruit a large number of mercenaries and challenge Macedonian hegemony (supposedly receiving funds from the Persians). The Macedonian general Antipater showed up with a large force and politely dissuaded Agis from his plan by defeating his army and killing him at the Battle of Megalopolis in 331 BC.
Sources:
By the Spear: Philip II, Alexander the Great, and the Rise and Fall of the Macedonian Empire, by Ian Worthington