With　the　popularity　of　Internet　of　Things　(IoT)　technology,　the　scale　of　IoT　is　gradually　becoming　huge　and　demand-driven　to　form　multi-domain　IoT,　and　the　demand　for　cross-domain　access　of　devices　in　multi-domain　scenarios　has　greatly　increased.　Secure　cross-domain　authentication　is　an　important　step　in　securing　multi-domain　IoT.　The　current　cross-domain　authentication　architecture　for　IoT　devices　has　limitations　such　as　single　point　of　failure,　low　authentication　efficiency,　poor　scalability　and　other　limitations.　To　address　these　problems,　this　paper　designs　a　blockchain-based　cross-domain　authentication　scheme　for　IoT　terminals,　which　adopts　an　authentication　architecture　based　on　a　combination　of　blockchain　and　edge　computing　technology　to　eliminate　the　problems　of　traditional　cross-domain　authentication　for　IoT　devices　and　achieve　distributed　authentication.　Considering　that　IoT　devices　have　the　characteristics　of　heterogeneity,　massiveness,　and　limited　resources,　a　lightweight　and　secure　certificateless　signature　scheme　is　introduced　in　the　cross-domain　authentication　process,　eliminating　complex　certificate　management　and　key　escrow,　and　achieving　secure　and　efficient　cross-domain　authentication　of　IoT　terminals.　©　2022　IEEE.