$A$V$_3$Sb$_5$ ($A$ = K, Rb, Cs) is a novel kagome superconductor coexisting with the charge density wave (CDW) order. Identifying the structure of the CDW order is crucial for understanding the exotic normal state and superconductivity in this system. Here, we report $^{51}$V nuclear magnetic resonance (NMR) and $^{121/123}$Sb nuclear quadrupole resonance (NQR) studies on kagome-metal CsV$_3$Sb$_5$. Below the CDW transition temperature $T_textrm{CDW} sim$ 98 K, an abrupt change of spectra was observed, indicating that the transition is of the first order. By further analysing the spectra, we find that the CDW order is commensurate. And most remarkably, we obtain the first experimental evidence that the charge modulation of the CDW order is of star-of-David pattern and accompanied by an additional charge modulation in bulk below $T^* sim$ 40 K. Our results revealing the unconventional CDW order provide new insights into $A$V$_3$Sb$_5$.