Quantum Hall (QH) edge channels propagating along the periphery of two-dimensional (2D) electron gases under perpendicular magnetic field are a major paradigm in physics. However, groundbreaking experiments that could use them in graphene are hampered by the conjecture that QH edge channels undergo a reconstruction with additional nontopological upstream modes. By performing scanning tunneling spectroscopy up to the edge of a graphene flake on hexagonal boron nitride, we show that QH edge channels are confined to a few magnetic lengths at the crystal edges. This implies that they are ideal 1D chiral channels defined by boundary conditions of vanishing electronic wave functions at the crystal edges, hence free of electrostatic reconstruction. We further evidence a uniform charge carrier density at the edges, incompatible with the existence of upstream modes. This work has profound implications for electron and heat transport experiments in graphene-based systems and other 2D crystalline materials.