We study turbulent flow in open channels with a free surface and rectangular cross-section, for various Reynolds numbers and duct aspect ratios. Direct numerical simulations are used to obtain accurate characterization of the secondary motions, which are found to be more intense than in closed ducts, and to scale with the bulk, rather than with the friction velocity. A notable feature of open-duct flows is the presence of a velocity dip, namely the peak velocity is achieved at some depth underneath the free surface. We find that the depth of the velocity peak increases with the Reynolds number, and correspondingly the flow becomes more symmetric with respect to the horizontal midplane. This is also confirmed from the change of the topology of the secondary motions, which exhibit a strong corner circulation at the free-surface/wall corners at low Reynolds number, which, however, weakens at higher. The structure of the mean velocity field is such that the log law applies with good approximation in the direction normal to the nearest wall, which allows us to explain why predictive friction formulae based on the hydraulic diameter concept are successful. Additional analysis shows that the secondary motions account for a large fraction of the frictional drag (up to %).