Molecular dynamics simulation and interface defect theory are used to determine the relaxed equilibrium atomic structures of symmetric tilt grain boundaries (STGBs) in hexagonal closepacked (hcp) crystals with a ½0 " 110 tilt axis. STGBs of all possible rotation angles h from 0 deg to 90 deg are found to have an ordered atomic structure. They correspond either to a coherent, defect-free boundary or to a tilt wall containing an array of distinct and discrete intrinsic grain boundary dislocations (GBDs). The STGBs adopt one of six base structures, P ðiÞ B , i = 1, …, 6, and the Burgers vector of the GBDs is related to the interplanar spacing of the base structure on which it lies. The base structures correspond to the basal plane (h = 0 deg, P ð1Þ B ); one of four minimum-energy, coherent boundaries, ð " 2111Þ; ð " 2112Þ; ð " 2114Þ, and ð " 2116Þ P B ). Based on these features, STGBs can be classified into one of six possible structural sets, wherein STGBs belonging to the same set i contain the same base boundary structure P ðiÞ B and an array of GBDs with the same Burgers vector b ðiÞ GB , which vary only in spacing and sign with h. This classification is shown to apply to both Mg and Ti, two metals with different c/a ratios and employing different interatomic potentials in simulation. We use a simple model to forecast the misorientation range of each set for hcp crystals of general c/a ratio, the predictions of which are shown to agree well with the molecular dynamics (MD) simulations for Mg and Ti.