why does my workbench twist?
There are basically two or three ways you can make a joint rigid
##Joinery
Joinery
Maybe I'm wrong but it looks like you used butt joins held together with a single screw and some glue. Glue works best on joins where long grain is pressed against long grain. Glue generally doesn't work well on end-grain.
Only having a single screw means the joint is more likely to twist and rack.
The traditional way to join table parts is to use mortice and tenon joints, a quicker/easier alterative is to use two or three dowels per joint. I find lap joints are easy to cut and very strong and rigid when glued - they don't look very spiffy but that doesn't matter for a workbench.
(screws are there only to clamp glue until dry)
Obviously, this doesn't help with your existing structure but you might wantto consider this aspect next time you build a bench or table etc.
##Bracing
Bracing
Michael Karas covered this in his answer. This can make a huge difference. In your shoes I would add bracing to make the structure more rigid. Adding boards as an apron around the top may help if well secured to the legs.