We develop a metric-torsion theory for chiral structures by using a generalized framework of transformation optics. We show that the chirality is uniquely determined by a metric with the local rotational degree of freedom. In analogy to the dislocation continuum, the chirality can be alternatively interpreted as the torsion tensor of a Riemann-Cartan space, which is mimicked by the anholonomy of the orthonormal basis. As a demonstration, we reveal the equivalence of typical three-dimensional chiral metamaterials in the continuum limit. Our theory provides an analytical recipe to design optical chirality.