This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant interface for teleoperation tasks. In particular, the results of these usability tests show that the proposed approach is more intuitive, ergonomic, and easy to use. Furthermore, the comparison results also show that the proposed method clearly improves the velocity of the teleoperation task, regardless of the user’s previous experience in robotics and augmented reality technology.