Helical trilayer graphene (HTG) has emerged as a highly tunable moire quantum material that hosts strong electronic correlations and nontrivial band topology. However, the atomic-scale lattice structure and local electronic properties have remained largely unexplored. Here we present a comprehensive real-space study of HTG using a combination of scanning near-field optical microscopy and low-temperature scanning tunneling microscopy. We directly image supermoire lattice relaxation, revealing large triangular domains separated by sharp domain walls, as well as stripe domains connected by smoothly varying boundaries. Atomic-scale spectroscopy uncovers flat bands with a honeycomb electronic texture and one-dimensional boundary states confined to domain walls. By systematically varying the twist angle, we identify a magic angle of approximately 1.9°, substantially larger than the 1.6 degree predicted by theory. Our results establish a direct microscopic link between lattice relaxation and flat bands in HTG.