As undertaking various key functions, helical chiral structures are widely presented in nature. Herein, we develop a general theoretical framework to guide the formation of helical chiral structures through self-assembly of micro/nano-fibers driven by adhesion. By analyzing the spiral contact geometric characteristics of multiple fibers and extending the JKR theory, an analytical model for adhesive contact between helical interfaces is proposed. Further, the complete configuration space of self-assembled fibers depending on the adhesion work, elastic modulus, aspect ratio, and initial helix angle is theoretically obtained. A diversity of helical configurations that far beyond existing experimental findings are predicted, which stems from the existence of multiple energy minimum points on the configuration-energy map. This work reveals the mechanism of adhesion-driven helical chiral structures, and provides theoretical foundation for guiding high-efficient fabrication of helical chiral structures through self-assembly method, which could promote the wide application of chiral structures in fields such as optics, catalysis and drug screening.