The relaxin family peptide receptor 1 (RXFP1) is the receptor for relaxin-2, an important regulator of reproductive and cardiovascular physiology and an established therapeutic target. RXFP1 is a multi-domain G protein-coupled receptor (GPCR) with an ectodomain consisting of an LDLa module and leucine-rich repeats. The molecular mechanism of RXFP1 signal transduction is clearly distinct from that of other GPCRs, but remains very poorly understood, hindering the development of therapeutics targeting the receptor. Here we present the cryo-electron microscopy structure of active-state human RXFP1, bound to the endogenous agonist relaxin-2 and heterotrimeric Gs proteins. Evolutionary coupling analysis and structure-guided functional experiments reveal that RXFP1 signals through a mechanism of autoinhibition, wherein the receptor's extracellular loop 2 occupies the orthosteric site in the active state but is inhibited by the ectodomain in the absence of relaxin-2. Together, these data provide a model for relaxin receptor signaling, explaining how an unusual but important GPCR sub-family functions and providing a path to rational drug development targeting the relaxin receptors.