Among its many outstanding properties, graphene supports terahertz surface plasma wavessub-wavelength charge density oscillations connected with electromagnetic fields that are tightly localized near the surface [1, 2]. When these waves are confined to finite-sized graphene, plasmon resonances emerge that are characterized by alternating charge accumulation at the opposing edges of the graphene. The resonant frequency of such a structure depends on both the size and the surface charge density, and can be electrically tuned throughout the terahertz range by applying a gate voltage [3,4]. The promise of tunable graphene THz plasmonics has yet to be fulfilled, however, because most proposed optoelectronic devices including detectors, filters, and modulators [5][6][7][8][9][10] desire near total modulation of the absorption or transmission, and require electrical contacts to the graphene -constraints that are difficult to meet using existing plasmonic structures. We report here a new class of plasmon resonance that occurs in a hybrid graphene-metal structure.The sub-wavelength metal contacts form a capacitive grid for accumulating charge, while the narrow interleaved graphene channels, to first order, serves as a tunable inductive medium, thereby forming a structure that is resonantly-matched to an incident terahertz wave. We experimentally demonstrate resonant absorption near the theoretical maximum in readily-available, large-area graphene, ideal for THz detectors and tunable absorbers. We further predict that the use of high mobility graphene will allow resonant THz transmission near 100%, realizing a tunable THz filter or modulator. The structure is strongly coupled to incident THz radiation, and solves a fundamental problem of how to incorporate a tunable plasmonic channel into a device with electrical contacts. In order to be applied in practical optoelectronic devices, graphene terahertz plasmonic resonators must be connected to an antenna, transmission line, metamaterial, or other electrical contact, in order to sense or apply a voltage or current, or to improve the coupling to free-space radiation. The conductive boundary screens the electric field and inhibits the accumulation of charge density at the opposing edges of the graphene channel, thus disrupting the traditional graphene plasmon mode. Until now, there was no experimental evidence that two-dimensional plasmons could be confined with conductive boundaries.In this letter, we demonstrate a new type of plasmon resonance in metal-contacted graphene, and we use analytic calculations, numerical simulations, and THz reflection and transmission measurements to confirm the principle of operation. These plasmon modes shows strong coupling to incident terahertz radiation, so that maximal absorption in graphene can be achieved at a resonance frequency that is gate-tunable. We also introduce an equivalent circuit model that predicts the resonant frequency, linewidth, and impedance matching condition of the fundamental plasmon mode, and can be used for d...