This paper describes computer simulation studies of granular materials under dense conditions where particles are in persistent contact with their neighbours and the elasticity of the material becomes an important rheological parameter. There are two regimes at this limit, one for which the stresses scale with both elastic and inertial properties (called the elastic–inertial regime), and a non-inertial quasi-static regime in which the stresses scale purely elastically (elastic–quasi-static). In these elastic regimes, the forces are generated by internal force chains. Reducing the concentration slightly causes a transition from an elastic to a purely inertial behaviour. This transition occurs so abruptly that a 2% concentration reduction can be accompanied by nearly three orders of magnitude of stress reduction. This indicates that granular flows near this limit are prone to instabilities such as those commonly observed in shear cells. Unexpectedly, there is no path between inertial (rapid) flow and quasi-static flow by varying the shear rate at a fixed concentration; only by reducing the concentration can one cause a transition from quasi-static to inertial flow. The solid concentrations at which this transition occurs as well as the magnitude of the stresses in the elastic regimes are strong functions of the particle surface friction, because the surface friction strongly affects the strength of the force chains. A parametric analysis of the elastic regime generated flowmaps showing the various regimes that might be realized in practice. Many common materials such as sand require such large shear rates to reach the elastic–inertial regime that it is unattainable for all practical purposes; such materials will demonstrate either an elastic–quasi-static behaviour or a pure inertial behaviour depending on the concentration – with many orders of magnitude of stress change between them. Finally, the effects of nonlinear contacts are investigated and an appropriate scaling is proposed that accounts for the nonlinear behaviour in the elastic–quasi-static regime.