Magnetar magnetospheres are strongly twisted, and are able to power sudden energetic events through the rapid release of stored electromagnetic energy. In this paper, we investigate twisted relativistic force-free axisymmetric magnetospheres of rotating neutron stars. We obtain numerical solutions of such configurations using the method of simultaneous relaxation for the magnetic field inside and outside the light-cylinder. We introduce a toroidal magnetic field in the region of closed field-lines that is associated with a poloidal electric current distribution in that region, and explore various mathematical expressions for that distribution. We find that, by increasing the twist, a larger fraction of magnetic field-lines crosses the light-cylinder and opens up to infinity, thus increasing the size of the polar caps and enhancing the spin-down rate. We also find that, for moderately to strongly twisted magnetospheres, the region of closed field-lines ends at some distance inside the light-cylinder. We discuss the implications of these solutions on the variation of magnetar spin-down rates, moding and nulling of pulsars, the relation between the angular shear and the twist and the overall shape of the magnetosphere.

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