SignificanceMany amphipathic lipids, including cannabinoids, lysophospholipids, prostanoids, and leukotrienes, bind to G protein–coupled receptors (GPCRs) through the lipid bilayer. How these lipid ligands get anchored to their receptors and enter ligand-binding pockets is largely elusive. Our results revealed a distinctive lipid recognition mechanism for the prostaglandin D₂(PGD₂) receptor CRTH2 that is not shared by other prostanoid receptors. Based on the structural analysis, we propose two representative binding modes of lipids in GPCRs. We also identified critical structural motifs and conformational changes of CRTH2 for capturing lipids from the lipidic environment and lipid transition to the binding pocket, thereby offering unprecedented molecular insight into the dynamic lipid-binding processes for GPCRs.