The Earth's long‐ and intermediate‐wavelength geoid anomalies are surface expressions of mantle convection and are sensitive to mantle viscosity. While previous studies of the geoid provide important constraints on the mantle radial viscosity variations, the mantle buoyancy in these studies, as derived from either seismic tomography or slab density models, may suffer significant uncertainties. In this study, we formulate 3‐D spherical mantle convection models with plate motion history since the Cretaceous that generate dynamically self‐consistent mantle thermal and buoyancy structures, and for the first time, use the dynamically generated slab structures and the observed geoid to place important constraints on the mantle viscosity. We found that non‐uniform weak plate margins and strong plate interiors are critical in reproducing the observed geoid and surface plate motion, especially the net lithosphere rotation (i.e., degree‐1 toroidal plate motion). In the best‐fit model, which leads to correlation of 0.61 between the modeled and observed geoid at degrees 4–12, the lower mantle viscosity is ∼1.3–2.5 × 1022 Pa⋅s and is ∼30 and ∼600–1,000 times higher than that in the transition zone and asthenosphere, respectively. Slab structures and the geoid are also strongly affected by slab strength, and the observations prefer moderately strong slabs that are ∼10–100 times stronger than the ambient mantle. Finally, a thin weak layer below the 670‐km phase change on a regional scale only in subduction zones produces stagnant slabs in the mantle transition zone as effectively as a weak layer on a global scale.