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Quantum gates based on geometric phases possess intrinsic noise-resilience features and therefore attract much attention. However, the implementations of previous geometric quantum computation typically require a long pulse time of gates. As a result, their experimental control inevitably suffers from the cumulative disturbances of systematic errors due to excessive time consumption. Here, we experimentally implement a set of noncyclic and nonadiabatic geometric quantum gates in a superconducting circuit, which greatly shortens the gate time. And also, we experimentally verify that our universal single-qubit geometric gates are more robust to both the Rabi frequency error and qubit frequency shift-induced error, compared to the conventional dynamical gates, by using the randomized benchmarking method. Moreover, this scheme can be utilized to construct two-qubit geometric operations, while the generation of the maximally entangled Bell states is demonstrated. Therefore, our results provide a promising routine to achieve fast, high-fidelity, and error-resilient quantum gates in superconducting quantum circuits.