The lithospheric structure of the contiguous US and surrounding regions is significant in revealing the historical tectonic deformations and interactions between subducting slabs and cratons. In this paper, we present a new radially anisotropic shear wave speed model of this region, constrained by seismic full-waveform inversion. The new model (named CUSRA2021) utilizes frequency dependent travel time measured from waveforms of 160 earthquake events recorded by 5,280 stations. More earthquakes located in contiguous US are incorporated to improve the data coverage in eastern US. The final model exhibits clear and detailed shear wave speed anomalies that correlate very well with tectonic units such as North America Craton (high-Vs), Cascadia subduction zones (high-Vs), Columbia Plateau (low-Vs), Basin and Range (low-Vs), etc. In particular, the detail of the North America Craton beneath Illinois is revealed, and the depth of high-Vs anomaly beneath the North America Craton correlates well with S-to-P receiver function and SH reflection studies. The radial anisotropy also shows a layering of Craton lithosphere.