Bathymetry critically influences the intrusion of warm Circumpolar Deep Water onto the continental shelf and under ice shelf cavities in Antarctica, thereby forcing ice melting, grounding line retreat, and sea level rise. We present a novel and comprehensive bathymetry of Antarctica that includes all ice shelf cavities and previously unmeasured continental shelf areas. The new bathymetry is based on a 3D inversion of a circumpolar compilation of gravity anomalies constrained by measurements from the International Bathymetric Chart of the Southern Ocean, BedMachine Antarctica, and discrete seafloor measurements from seismic and ocean robotic probes. Previously unknown troughs with thicker ice shelf cavities are revealed in many parts of Antarctica, especially East Antarctica. The greater depths of troughs on the continental shelf and ice shelf cavities imply that many glaciers are more vulnerable to ocean subsurface warming than previously thought, which may increase the projections of sea level rise from Antarctica.