Significance The efficiency of erosion in leveling relief mainly depends on climate and strength of exposed rocks. However, whether erosion is sufficiently efficient to influence the architecture of a tectonic plate boundary remains a topic of debate. Here, we analyze continental rift landscapes reworked by river incision to assess a globally representative range of fluvial erosion efficiency. We then simulate crustal extension exposed to surface processes acting within this documented range. We find that more efficient erosion favors the growth of half-grabens over horsts, which can explain contrasting tectonic styles across the Basin and Range province and the East African Rift. This suggests that variability in Earth’s geological structures partly reflects variability in hydrological conditions and associated surface processes.