Arraying noble metal nanoparticles with nanoscale features is an important way to develop plasmonic devices with novel optical properties such as plasmonic chiral metamolecules, optical waveguides, and so forth. Along with top-down methods of fabricating plasmonic nanostructures, solution-based self-assembly provides an alternative approach. There are mainly two routes to organizing metal nanoparticles via self-assembly. One is directly linking nanoparticles through linker molecules, and the other is using nanoparticles to decorate a preformed template. We combine these two routes and herein report a strategy for the DNA origami-assisted modular assembly of gold nanoparticles into homogeneous and heterogeneous plasmonic nanostructures. For each module, we designed W-shaped DNA origami with two troughs as two domains. One domain is used to host a gold nanoparticle, and the other domain is designed to capture another gold nanoparticle hosted on a different module. By simply tuning the sequences of capture DNA strands on each module, gold nanoparticles including spherical and rod-shaped gold nanoparticles (denoted as AuNPs and AuNRs) could be well organized in a predefined manner to form versatile plasmonic nanostructures. Since the interparticle distances could be precisely controlled at the nanoscale, we also studied the plasma coupling among the assembled plasmonic nanostructures. This modular assembly strategy represents a simple yet general and effective design principle for DNA-assembled plasmonic nanostructures.