Van Allen Probes observations are presented which demonstrate the presence of nonlinear electric field structures in the inner terrestrial magnetosphere (<6 RE). A range of structures are observed, including phase space holes and double layers. These structures are observed over several Earth radii in radial distance and over a wide range of magnetic local times. They are observed in the dusk, midnight, and dawn sectors, with the highest concentration premidnight. Some nonlinear electric field structures are observed to coincide with dipolarizations of the magnetic field and increases in electron energy flux for energies between 1 keV and 30 keV. Nonlinear electric field structures possess isolated impulsive electric fields, often with a significant component parallel to the ambient magnetic field, providing a mechanism for nonadiabatic wave-particle interactions in the inner magnetosphere.