Cylindrical magnetic nanowires show great potential for 3D applications such as magnetic recording, shift registers, and logic gates, as well as in sensing architectures or biomedicine. Their cylindrical geometry leads to interesting properties of the local domain structure, leading to multifunctional responses to magnetic fields and electric currents, mechanical stresses, or thermal gradients. This review article is summarizing the work carried out in our group on the fabrication and magnetic characterization of cylindrical magnetic nanowires with modulated geometry and anisotropy. The nanowires are prepared by electrochemical methods allowing the fabrication of magnetic nanowires with precise control over geometry, morphology, and composition. Different routes to control the magnetization configuration and its dynamics through the geometry and magnetocrystalline anisotropy are presented. The diameter modulations change the typical single domain state present in cubic nanowires, providing the possibility to confine or pin circular domains or domain walls in each segment. The control and stabilization of domains and domain walls in cylindrical wires have been achieved in multisegmented structures by alternating magnetic segments of different magnetic properties (producing alternative anisotropy) or with non-magnetic layers. The results point out the relevance of the geometry and magnetocrystalline anisotropy to promote the occurrence of stable magnetochiral structures and provide further information for the design of cylindrical nanowires for multiple applications.