Domain boundary (DB) structures are of great importance for understanding the structure-property relationship in many ferroic crystals. Here, we present atomically resolved DB configurations in PbZrO3-based antiferroelectric ceramics. The Pb-cation displacement relative to B-site cations is precisely determined using aberration-corrected scanning transmission electron microscopy. We find that 90° DBs in undoped PbZrO3 can be as thin as one primitive cell of the perovskite structure, often appearing curved or zigzagged due to the complex dipole arrangement. In a chemically modified composition, Pb0.99Nb0.02[(Zr0.57Sn0.43)0.95Ti0.05]0.98O3, in which incommensurate modulations are present, the DB has a typical thickness of at least two primitive cells, with more or less aligned dipole moments. Our findings provide insights into establishing the structure-property relationship in antiferroelectrics, shedding light on the design and fabrication of domain-boundary electronics.