All courts, except the US Supreme Court, established by Congress.
The Supreme Court was established under the article III of the Constitution, however, Congress was granted the authority to create lower federal courts whenever they are required. The Judiciary Act of 1789 established structure and jurisdiction of the federal court system.
The United States has a dual court system, since it has both a federal judiciary and state judiciaries. State courts are established by each state, and these vary from state to state.