diff --git a/core/src/main/scala/chisel3/domain/Type.scala b/core/src/main/scala/chisel3/domain/Type.scala
index 6842f331327..54ef8c8b15a 100644
--- a/core/src/main/scala/chisel3/domain/Type.scala
+++ b/core/src/main/scala/chisel3/domain/Type.scala
@@ -61,6 +61,8 @@ final class Type private[domain] (val domain: Domain) extends Element { self =>
 
   override def cloneType: this.type = new Type(domain).asInstanceOf[this.type]
 
+  override def toString: String = s"${domain.name}.Type"
+
   override def toPrintable: Printable =
     throwException(s"'domain.Type' does not support hardware printing" + this._errorContext)
 
diff --git a/core/src/main/scala/chisel3/domain/package.scala b/core/src/main/scala/chisel3/domain/package.scala
index e10f2613ceb..9834e9b97db 100644
--- a/core/src/main/scala/chisel3/domain/package.scala
+++ b/core/src/main/scala/chisel3/domain/package.scala
@@ -23,7 +23,7 @@ package object domain {
     * @param source the source of the forward
     */
   def define[A <: domain.Type](sink: A, source: A)(implicit sourceInfo: SourceInfo): Unit = {
-    Builder.pushCommand(ir.DomainDefine(sourceInfo, sink.lref, source.ref))
+    chisel3.internal.MonoConnect.domainDefine(sourceInfo, sink, source, Builder.referenceUserContainer)
   }
 
   /** Unsafe cast to a variadic list of domains.
diff --git a/core/src/main/scala/chisel3/internal/BiConnect.scala b/core/src/main/scala/chisel3/internal/BiConnect.scala
index 30f205943c6..5f2d8b65f56 100644
--- a/core/src/main/scala/chisel3/internal/BiConnect.scala
+++ b/core/src/main/scala/chisel3/internal/BiConnect.scala
@@ -116,6 +116,22 @@ private[chisel3] object BiConnect {
         }
         pushCommand(DefInvalid(sourceInfo, left_a.lref(sourceInfo)))
       case (DontCare, right_a: Analog) => connect(sourceInfo, right, left, context_mod)
+      // Two domains are bi-connected at the root.  `domain_define` has no
+      // direction, so :<=/<> are simply lowered to the same node as `domain.define`.
+      case (left_d: chisel3.domain.Type, right_d: chisel3.domain.Type) =>
+        // Pick the directional sense using the same rule as Records: if the
+        // left-hand side can't be a sink, flip so that the sink is writable.
+        val (sink, source) =
+          if (!MonoConnect.canBeSink(left_d, context_mod) && MonoConnect.canBeSink(right_d, context_mod)) {
+            (right_d, left_d)
+          } else {
+            (left_d, right_d)
+          }
+        try {
+          MonoConnect.domainDefine(sourceInfo, sink, source, context_mod)
+        } catch {
+          case MonoConnectException(message) => throw BiConnectException(message)
+        }
       case (left_e: Element, right_e: Element) => {
         elemConnect(sourceInfo, left_e, right_e, context_mod)
         // TODO(twigg): Verify the element-level classes are connectable
diff --git a/core/src/main/scala/chisel3/internal/MonoConnect.scala b/core/src/main/scala/chisel3/internal/MonoConnect.scala
index 51bd4114243..dd83a2b03b1 100644
--- a/core/src/main/scala/chisel3/internal/MonoConnect.scala
+++ b/core/src/main/scala/chisel3/internal/MonoConnect.scala
@@ -7,7 +7,7 @@ import chisel3._
 import chisel3.experimental.{Analog, BaseModule, SourceInfo}
 import chisel3.internal.binding._
 import chisel3.internal.Builder.pushCommand
-import chisel3.internal.firrtl.ir.{Block, Connect, DefInvalid, ProbeDefine, PropAssign}
+import chisel3.internal.firrtl.ir.{Block, Connect, DefInvalid, DomainDefine, ProbeDefine, PropAssign}
 import chisel3.internal.firrtl.Converter
 import chisel3.experimental.dataview.{isView, reify, reifyIdentityView}
 import chisel3.properties.{Class, Property}
@@ -80,6 +80,10 @@ private[chisel3] object MonoConnect {
     MonoConnectException(s"Source ${formatName(source)} of Probed type cannot participate in a mono connection (:=)")
   def SinkProbeMonoConnectionException(sink: Data) =
     MonoConnectException(s"Sink ${formatName(sink)} of Probed type cannot participate in a mono connection (:=)")
+  def MismatchedDomainException(sink: chisel3.domain.Type, source: chisel3.domain.Type) =
+    MonoConnectException(
+      s"Sink (${sink.domain.name}) and Source (${source.domain.name}) are different kinds of domains."
+    )
 
   /** Check if the argument is visible from current block scope
     *
@@ -155,6 +159,9 @@ private[chisel3] object MonoConnect {
         elemConnect(sourceInfo, sink_e, source_e, context_mod)
       case (sink_p: Property[_], source_p: Property[_]) =>
         propConnect(sourceInfo, sink_p, source_p, context_mod)
+      // Two domains are connected at the root.
+      case (sink_d: chisel3.domain.Type, source_d: chisel3.domain.Type) =>
+        domainDefine(sourceInfo, sink_d, source_d, context_mod)
 
       // Handle Vec case
       case (sink_v: Vec[Data @unchecked], source_v: Vec[Data @unchecked]) =>
@@ -456,6 +463,24 @@ private[chisel3] object MonoConnect {
     }
   }
 
+  def domainDefine(
+    sourceInfo: SourceInfo,
+    sink:       chisel3.domain.Type,
+    source:     chisel3.domain.Type,
+    context:    BaseModule
+  ): Unit = {
+    implicit val info: SourceInfo = sourceInfo
+    if (sink.domain != source.domain) {
+      throw MismatchedDomainException(sink, source)
+    }
+    checkConnect.checkConnection(sourceInfo, sink, source, context)
+    context match {
+      case rm: RawModule =>
+        rm.addCommand(DomainDefine(sourceInfo, sink.lref, source.ref))
+      case _ => throwException("Internal Error! Domain connection can only occur within RawModule.")
+    }
+  }
+
   def probeDefine(
     sourceInfo:  SourceInfo,
     sinkProbe:   Data,
diff --git a/src/test/scala/chiselTests/DomainSpec.scala b/src/test/scala/chiselTests/DomainSpec.scala
index 8a96cccfdec..f7b6d5863db 100644
--- a/src/test/scala/chiselTests/DomainSpec.scala
+++ b/src/test/scala/chiselTests/DomainSpec.scala
@@ -110,23 +110,46 @@ class DomainSpec extends AnyFlatSpec with Matchers with FileCheck {
 
   }
 
-  they should "be capable of being forwarded with the domain define operation" in {
+  they should "be capable of being forwarded with the domain define operation or connects" in {
 
     class Foo extends RawModule {
       val a = IO(Input(ClockDomain.Type()))
       val b = IO(Output(ClockDomain.Type()))
 
       domain.define(b, a)
+      b := a
+      b <> a
+      b :<= a
+      b :<>= a
     }
 
     ChiselStage.emitCHIRRTL(new Foo).fileCheck() {
-      """|CHECK: module Foo :
-         |CHECK:   domain_define b = a
+      """|CHECK:         module Foo :
+         |CHECK-COUNT-5:   domain_define b = a
+         |CHECK-NOT:       domain_define
          |""".stripMargin
     }
 
   }
 
+  they should "error if connecting two different kinds of domains with :=" in {
+
+    object DomainA extends Domain
+    object DomainB extends Domain
+
+    class Foo extends RawModule {
+      val a = IO(Input(DomainA.Type()))
+      val b = IO(Output(DomainB.Type()))
+      b := a
+    }
+
+    val exception = intercept[ChiselException] {
+      ChiselStage.elaborate(new Foo, Array("--throw-on-first-error"))
+    }
+    exception.getMessage should include("are different kinds of domains")
+
+  }
+
   behavior of "The associate method"
 
   it should "error if given zero arguments" in {