The first application of high energy ion channeling for the structure determination of the atomically clean GaAs(110) surface is reported. It is found that the surface Ga and As atoms have small lateral displacements (≤0.1 Å) from ideal bulklike sites, whereas a normal component of the first layer shear vector as large as 0.7 Å is compatible with the experimental data. The implications of these results with respect to current LEED models are discussed.