Using new proper motion data from recently published catalogs, we revisit the membership of previously identified members of the Upper Scorpius association. We confirmed 750 of them as cluster members based on the convergent point method, compute their kinematic parallaxes and combined them with Gaia parallaxes to investigate the 3D structure and geometry of the association using a robust covariance method. We find a mean distance of 146+/-3+/-6pc and show that the morphology of the association defined by the brightest (and most massive) stars yields a prolate ellipsoid with dimensions of 74x38x32pc^3^, while the faintest cluster members define a more elongated structure with dimensions of 98x24x18pc^3^. We suggest that the different properties of both populations is an imprint of the star formation history in this region.