Architecture-efficient sorghum (Sorghum bicolor (L.) Moench) has erect leaves forming a compact canopy that enables highly effective utilisation of solar radiation; it is suitable for high-density planting, resulting in an elevated overall production. Development of sorghum ideotypes with optimal plant architecture requires knowledge of the genetic basis of plant architectural traits. The present study investigated seven production-related architectural traits by using 181 sorghum recombinant inbred lines (RILs) with contrasting architectural phenotypes developed from the cross Shihong 137 × L-Tian. Parents along with RILs were phenotyped for plant architectural traits for two consecutive years (2012, 2013) at two locations in the field. Analysis of variance revealed significant (P ≤ 0.05) differences among RILs for architectural traits. All traits showed medium to high broad-sense heritability estimates (0.43–0.94) and significant (P ≤ 0.05) genotype × environment effects. We employed 181 simple sequence repeat markers to identify quantitative trait loci (QTLs) and the effects of QTL × environment interaction based on the inclusive composite interval mapping algorithm. In total, 53 robust QTLs (log of odds ≥4.68) were detected for these seven traits and explained 2.11–12.11% of phenotypic variation. These QTLs had small effects of QTL × environment interaction and yet significant epistatic effects, indicating that they could stably express across environments but influence phenotypes through strong interaction with non-allelic loci. The QTLs and linked markers need to be verified through function and candidate-gene analyses. The new knowledge of the genetic regulation of architectural traits in the present study will provide a theoretical basis for the genetic improvement of architectural traits in sorghum.