The study of rift basin's morphology can provide good insights into geological features influencing the development of rift valleys and the distribution of volcanism. The Kivu rift segment represents the central section of the western branch of the East African Rift and displays morphological characteristics contrasting with other rift segments. Differences and contradictions between several structural maps of the Kivu rift make it difficult to interpret the local geodynamic setting. In the present work, we use topographic and bathymetric data to map active fault networks and study the geomorphology of the Kivu basin. This relief-based fault lineament mapping appears as a good complement for field mapping or mapping using seismic reflection profiles. Results suggest that rifting reactivated NE-SW oriented structures probably related to the Precambrian basement, creating transfer zones and influencing the location and distribution of volcanism. Both volcanic provinces, north and south of the Kivu basin, extend into Lake Kivu and are connected to each other with a series of eruptive vents along the western rift escarpment. The complex morphology of this rift basin, characterized by a double synthetic half-graben structure, might result from the combined action of normal faulting, magmatic underplating, volcanism and erosion processes.