We study the crystallization of colloidal dispersions under capillary-action-induced shear as the dispersion is drawn into flat walled capillaries. Using confocal microscopy and small angle x-ray scattering, we find that the shear near the capillary walls influences the crystallization to result in large random hexagonal close-packed (RHCP) crystals with long-range orientational order over tens of thousands of colloidal particles. We investigate the crystallization mechanism and find partial crystallization under shear, initiating with hexagonal planes at the capillary walls, where shear is highest, followed by epitaxial crystal growth from these hexagonal layers after the shear is stopped. We then characterize the three-dimensional crystal structure finding that the shear-induced crystallization leads to larger particle separations parallel to the shear and vorticity directions as compared to the equilibrium RHCP structure. Confocal microscopy reveals that competing shear directions, where the capillary walls meet at a corner, create differently oriented hexagonal planes of particles. The single-orientation RHCP colloidal crystals remain stable after formation and are produced without the need of complex shear cell arrangements.