Theoretical and experimental studies are presented to characterize the anisotropic plastic response under torsion loading of two nominally identical aluminum Al6061-T6 extruded round bars. Theoretical models are developed using isotropic (Von Mises 1913) and anisotropic (Barlat 1991) yield criteria, along with isotropic strain hardening formulae, to model post-yield behavior under simple torsion loading. For the case of simple shear loading, incremental plasticity theory is used to determine the theoretical elastic, plastic, and total shear strains. A set of experiments are performed to calibrate Barlat’s 1991 yield function. Several specimens are extracted at different orientations to the longitudinal direction of each round Al6061-T6 bar and tested under uniaxial tension and simple torsion to optimally determine all anisotropic (Barlat 1991) yield function parameters. During loading, Stereo Digital Image Correlation (DIC) is used to quantify surface deformations for the torsion experiments and a baseline tension specimen to identify and correct measurement anomalies. Results show the isotropic yield model either underestimates or overestimates the experimental shear strains for both extrusions. Conversely, results using the Barlat 1991 anisotropic yield criteria are in excellent agreement with experimental measurements for both extrusions. The presence of significant differences in the anisotropic parameters for nominally similar extrusions confirms that plastic anisotropy is essential for the accurate prediction of mechanical behavior in longitudinally extruded Al6061-T6 bars.