We calculate the complete quark and gluon cusp anomalous dimensions in four-loop massless QCD analytically from first principles. In addition, we determine the complete matter dependence of the quark and gluon collinear anomalous dimensions. Our approach is to Laurent expand four-loop quark and gluon form factors in the parameter of dimensional regularization. We employ finite field and syzygy techniques to reduce the relevant Feynman integrals to a basis of finite integrals, and subsequently evaluate the basis integrals directly from their standard parametric representations.