To understand the molecular basis for DOCK-GTPase specificity, we have determined the crystal structure of DOCK2 DHR2 in complex with Rac1. DOCK2 DHR2 and DOCK9 DHR2 exhibit similar tertiary structures and homodimer interfaces and share a conserved GTPase-activating mechanism. Multiple structural differences between DOCK2 DHR2 and DOCK9 DHR2 account for their selectivity toward Rac1 and Cdc42. Key determinants of selectivity of Cdc42 and Rac for their cognate DOCK DHR2 are a Phe or Trp residue within 3 (residue 56) and the ability of DOCK proteins to exploit differences in the GEF-induced conformational changes of switch 1 dependent on a divergent residue at position 27. DOCK proteins, therefore, differ from DH-PH GEFs that select their cognate GTPases through recognition of structural differences within the 2/3 strands.