In this work, electron backscatter diffraction (EBSD) and transmission electron microscope (TEM) were employed to evaluate the effect of friction stir processing (FSP) on the grain boundary characteristics and the evolution of the texture components of Al6061. After FSP, the equiaxed bimodal grain structure was formed in FSPed Al, the average grain size decreased from 18.5 μm to 9.8 μm, the proportion of ∑3 and ∑27 grain boundaries increased. The FSPed Al primarily formed {0   0   1} 〈1   0   0〉 cubic texture, {1   1   0} 〈1   1   0〉 shear texture, {1   1   0} 〈1   0   0〉 Goss texture, and {1   1   4} 〈2   2   1〉 texture. Overall, the recrystallization of FSPed Al is not complete, while the texture components are more complex than the matrix.