Reducing the magnetic shape anisotropy of a cylindrical NiFe nanowire allows the formation of two vortices with opposite chirality at the two ends. At relatively low aspect ratio these two vortices are connected via a gradual rotation of the magnetization over a short region, which forms a three-dimensional helical domain wall. Micromagnetic simulations reveal that it is possible to control the number of helical domain walls in the cylindrical nanowire by geometrical constrictions engineering. A technique to create constricted Ni 95Fe 5/Ni 87Fe 13 multilayered nanowires is demonstrated, and magnetic force microscopy imaging was carried out to confirm the prediction of simulated helical domain walls. © 2012 American Institute of Physics.