A rich variety of specific multidomain textures recently observed in antiferromagnetically coupled multilayers with perpendicular anisotropy include regular (equilibrium) multidomain states as well as different types of topological magnetic defects. Within a phenomenological theory we have classified and analyzed the possible magnetic defects in the antiferromagnetic ground state and determine their structures. We have derived the optimal sizes of the defects as functions of the antiferromagnetic exchange, the applied magnetic field, and geometrical parameters of the multilayer. The calculated magnetic phase diagrams show the existence regions for all types of magnetic defects. Experimental investigations of the remanent states (observed after different magnetic pre-history) in [Co/Pt]/Ru multilayers with wedged Co layers reveal a corresponding succession of different magnetic defect domain types.