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Abstract We present cosmological constraints from a gravitational lensing mass map covering 9400 deg²reconstructed from measurements of the cosmic microwave background (CMB) made by the Atacama Cosmology Telescope (ACT) from 2017 to 2021. In combination with measurements of baryon acoustic oscillations and big bang nucleosynthesis, we obtain the clustering amplitudeσ₈= 0.819 ± 0.015 at 1.8% precision, $S_8\equiv {\sigma }_8{\left({\mathrm{\Omega }}_{\mathrm{m}}/0.3\right)}^{0.5}=0.840\pm 0.028$, and the Hubble constantH₀= (68.3 ± 1.1) km s⁻¹Mpc⁻¹at 1.6% precision. A joint constraint with Planck CMB lensing yieldsσ₈= 0.812 ± 0.013, $S_8\equiv {\sigma }_8{\left({\mathrm{\Omega }}_{\mathrm{m}}/0.3\right)}^{0.5}=0.831\pm 0.023$, andH₀= (68.1 ± 1.0) km s⁻¹Mpc⁻¹. These measurements agree with ΛCDM extrapolations from the CMB anisotropies measured by Planck. We revisit constraints from the KiDS, DES, and HSC galaxy surveys with a uniform set of assumptions and find thatS₈from all three are lower than that from ACT+Planck lensing by levels ranging from 1.7σto 2.1σ. This motivates further measurements and comparison, not just between the CMB anisotropies and galaxy lensing but also between CMB lensing probingz∼ 0.5–5 on mostly linear scales and galaxy lensing atz∼ 0.5 on smaller scales. We combine with CMB anisotropies to constrain extensions of ΛCDM, limiting neutrino masses to ∑m_ν< 0.13 eV (95% c.l.), for example. We describe the mass map and related data products that will enable a wide array of cross-correlation science. Our results provide independent confirmation that the universe is spatially flat, conforms with general relativity, and is described remarkably well by the ΛCDM model, while paving a promising path for neutrino physics with lensing from upcoming ground-based CMB surveys.