New broadband seismic data from Botswana and South Africa have been combined with existing data from the region to develop improved P and S wave velocity models for investigating the upper mantle structure of southern Africa. Higher craton‐like velocities are imaged beneath the Rehoboth Province and parts of the northern Okwa Terrane and the Magondi Belt, indicating that the northern edge of the greater Kalahari Craton lithosphere lies along the northern boundary of these terranes. Lower off‐craton velocities are imaged beneath the Damara‐Ghanzi‐Chobe Belt, and may in part reflect thinning of the lithosphere beneath the incipient Okavango Rift. Lower velocities are also imaged to the north and northwest of the Bushveld Complex beneath parts of the Okwa Terrane, Magondi Belt, and Limpopo Belt, indicating that cratonic upper mantle in some areas beneath these terranes may have been modified by the 2.05‐Ga Bushveld and/or 1.1‐Ga Umkondo magmatic events.

Rayleigh wave group and phase velocity measurements obtained from ambient noise and earthquake data at 51 broadband stations were used to construct the first 3‐D crustal and upper mantle shear wave velocity model of Botswana. The model shows low crustal velocities associated with the Passarge and Nosop sedimentary basins, whereas the Kaapvaal, Zimbabwe, Maltahohe, and Congo Cratons are recognized by high mantle velocities. The lowest upper mantle shear wave velocity, beneath northeastern Botswana, is associated with the southwestern branch of the East African Rift System. This low‐velocity mantle anomaly appears to be linked to the crust of the Okavango Rift Zone and the location of the 3 April 2017 Mw 6.5 earthquake in central Botswana. We suggest that fluids or melt at the base of the crust from the southward continuation of the East African Rift Zone triggered the intraplate earthquake in an extensional tectonic setting.

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We present a 3D shear‐wave velocity model of the southern African upper mantle developed using 30–200 s period Rayleigh waves recorded on regional seismic networks spanning the subcontinent. The model shows high velocities (∼4.7–4.8 km/s) at depths of 50–250 km beneath the Archean nucleus and several surrounding Paleoproterozoic and Mesoproterozoic terranes, placing the margin of the greater Kalahari Craton along the southern boundary of the Damara Belt and the eastern boundaries of the Gariep and Namaqua‐Natal belts. At depths ≥250 km, there is little difference in velocities beneath the craton and off‐craton regions, suggesting that the cratonic lithosphere extends to depths of about 200–250 km. Upper mantle velocities beneath uplifted areas of southern Africa are higher than the global average and significantly higher than beneath eastern Africa, indicating there that is little thermal modification of the upper mantle present today beneath the Southern African Plateau.

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