The MINOS experiment ran from 2003 until 2012 and collected a data sample including 10.71×1020 protons-on-target (POT) of beam neutrinos, 3.36×1020 POT of beam antineutrinos and an atmospheric neutrino exposure of 37.88 kt yrs. The final measurement of the atmospheric neutrino oscillation parameters, ca2f480c4794fbd07"> and θ23, came from a full three flavour oscillation analysis of the combined CC νμ and CC beam and atmospheric samples and the CC νe and CC appearance samples. This analysis yielded the most precise measurement of the atmospheric mass splitting ca2f480c4794fbd07"> performed to date. The results are (68%) and sin2θ23=0.35–0.65 (90%) in the normal hierarchy, and (68%) and sin2θ23=0.34–0.67 (90%) in the inverted hierarchy. The successor to MINOS in the NOν A era at FNAL, MINOS+, is now collecting data mostly in the 3–10 GeV region, and an analysis of νμ disappearance using the first 2.99×1020 POT of data produced results very consistent with those from MINOS. Future data will further test the standard neutrino oscillation paradigm and allow for improved searches for exotic phenomena including sterile neutrinos, large extra dimensions and non-standard interactions.