Gap waveguides play a crucial role in millimeter‐wave information transmission and processing for next‐generation wireless communication and radar sensing systems. However, they suffer from challenges, such as reflection and scattering losses at sharp bends and defects. While topological photonic crystals offer innovative solutions for robust signal transmission, their localized interface states and unique electromagnetic modes pose compatibility challenges with practical circuits and systems. In this paper, a novel heterostructured gap waveguide support valley‐locked topological guided wave transport is introduced. This design ensures robust propagation against defects and bends while maintaining compatibility with classical transmission lines. Its topological characteristic reduce sensitivity to fabrication and assembly errors. More importantly, an efficient transition structure is developed to seamlessly convert quasi‐transverse electromagnetic (quasi‐TEM) modes in planar transmission lines to topological guided wave states, thereby effectively exciting topological waves. All theoretical predictions are quantitatively verified by the simulations and experiments at millimeter wave frequency. This heterostructured gap waveguide can find unique applications, such as power divider, as verified numerically. By leveraging topological principles, the proposed gap waveguide offers a significant performance boost for antennas and passive/active components in millimeter‐wave applications, including automotive radar, 5G communication, and synthetic‐aperture radar for imaging.