Angular distributions for the elastic and inelastic scattering of 16O from 24Mg, exciting the 2 1 + (1.37 MeV), 4 1 + (4.12 MeV) and 2 2 + (4.24 MeV) states, have been measured at E c.m. = 43.5 MeV, an energy at which resonance-like structure has been observed previously in the related 24Mg( 16O, 12C) 28Si reaction. In particular, the 4 1 +, 2 2 + doublet has been resolved for the first time for heavy-ion projectiles. The data have been well described by coupled-channels calculations within the framework of a Davydov-Filippov asymmetric rotor model for the low-lying states of 24Mg, which has been extended to include a symmetric hexadecapole shape component. The optical model potential for the 16O + 24Mg interaction was found to have a moderate real well depth and some surface transparency. The shape parameters for the nuclear potential were determined to be β (N) 2 = 0.25, γ = 22° and β 4 (N) = −0.065 and the corresponding deformation lengths are in good agreement with earlier light-ion results. The inclusion of a negative symmetric hexadecapole component leads to an improved description of the reduced transition rates. The triaxial structure of 24Mg is discussed.