Many applications of ferroic materials, such as data storage and spintronics, are achieved through the control and manipulation of their domain wall (DW) orientations and configurations. Here we propose a rotational compatibility condition to identify low-energy DWs in perovskites with oxygen octahedral tilt instability. It is derived from the strong DW energy anisotropy arising from the rigidity and corner-sharing feature of the octahedral network. We analyze quantitatively the DWs in SrTiO3 and explain successfully the unusual ferroelectric DW width and energy in BiFeO3.