The distribution of living organisms on Earth is spatially structured. Early biogeographers identified the existence of multiple zoogeographical regions, characterized by faunas with homogeneous composition that are separated by biogeographical boundaries. Yet, no study has deciphered the factors shaping the distributions of terrestrial biogeographical boundaries at the global scale. Here, using spatial regression analyses, we show that tectonic movements, sharp changes in climatic conditions and orographic barriers determine extant biogeographical boundaries. These factors lead to abrupt zoogeographical transitions when they act in concert, but their prominence varies across the globe. Clear differences exist among boundaries representing profound or shallow dissimilarities between faunas. Boundaries separating zoogeographical regions with limited divergence occur in areas with abrupt climatic transitions. In contrast, plate tectonics determine the separation between deeply divergent biogeographical realms, particularly in the Old World. Our study reveals the multiple drivers that have shaped the biogeographical regions of the world.