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Adhesion G-protein-coupled receptors (aGPCRs) are important for organogenesis, neurodevelopment, reproduction and other processes
1
–
6
. Many aGPCRs are activated by a conserved internal (tethered) agonist sequence known as the Stachel sequence
7
–
12
. Here, we report the cryogenic electron microscopy (cryo-EM) structures of two aGPCRs in complex with G
s
: GPR133 and GPR114. The structures indicate that the Stachel sequences of both receptors assume an α-helical–bulge–β-sheet structure and insert into a binding site formed by the transmembrane domain (TMD). A hydrophobic interaction motif (HIM) within the Stachel sequence mediates most of the intramolecular interactions with the TMD. Combined with the cryo-EM structures, biochemical characterization of the HIM motif provides insight into the cross-reactivity and selectivity of the Stachel sequences. Two interconnected mechanisms, the sensing of Stachel sequences by the conserved ‘toggle switch’ W
6.53
and the constitution of a hydrogen-bond network formed by Q
7.49
/Y
7.49
and the P
6.47
/V
6.47
φφG
6.50
motif (φ indicates a hydrophobic residue), are important in Stachel sequence-mediated receptor activation and G
s
coupling. Notably, this network stabilizes kink formation in TM helices 6 and 7 (TM6 and TM7, respectively). A common G
s
-binding interface is observed between the two aGPCRs, and GPR114 has an extended TM7 that forms unique interactions with G
s
. Our structures reveal the detailed mechanisms of aGPCR activation by Stachel sequences and their G
s
coupling.
Adhesion GPCRs involved in cell and matrix interactions signal through a distinct self-cleavage, self-activation mechanism.