On the basis of P, PP, S, SS arrival times and SS ‐ S410S, SS ‐ S660S differential times, we construct models of mantle P and S velocity structure and boundary topography of the 410‐km and 660‐km discontinuities. Events from the catalog of the International Seismological Centre (ISC) are relocated relative to the International Association of Seismology and Physics of the Earth's Interior 1991 (IASP91) velocity model using both P and S arrival times. The arrival times are corrected for ellipticity and the PP and SS residuals are corrected for the topography at the bounce point. The cap‐averaged PP ‐ P and SS ‐ S differential time residuals, plotted at the PP and SS surface reflection points, form broad coherent patterns. The geographic distribution of the cap averaged residuals agrees quite well with PP ‐ P and SS‐S differential time residuals derived from long period Global Digital Seismograph Network (GDSN) data. A robust lp inversion scheme is used to infer global mantle structure. Synthetic tests indicate that for regions well sampled by SS ‐ S410S and SS ‐ S660S differential times, the velocity estimates are not seriously contaminated by the topography of the 410‐ and 660‐km discontinuities. However, estimates of boundary deflections may be influenced by extensive P and S velocity variations of 3% or greater. We find the 410‐km discontinuity to be depressed by as much as 24 km beneath North America. Conversely, the discontinuity is deflected upward underneath Eurasia. In some regions the topography of the 660‐km discontinuity is quite distinct from that of the 410‐km discontinuity, but the two appear to be positively correlated. A series of depressions are found at several intersections of the 660‐km discontinuity with known subduction zones. The elevated topography in the 410‐km discontinuity beneath Europe is underlain by a trough in the 660‐km discontinuity. A number of subduction zones are characterized by a thinning of the transition zone. Negative P and S velocity anomalies, underlying back‐arc basins and tectonically active continental regions, encircle the Pacific. Where they are resolved, the stable continental cratons are systematically positive velocity features that extend below 200 km. With the inclusion of PP and SS travel time residuals we are better able to constrain midmantle structure. Most notably, in the depth range 35–660 km beneath the Northwest Pacific we observe high P velocity. Where they are resolved, mid‐ocean ridges are most clearly imaged as low velocity features in the S model. The northern portion of the Mid‐Atlantic Ridge is underlain by negative S velocity anomalies. In the Pacific, the East Pacific Rise is an extensive low S velocity anomaly.