Current identity-based authenticated key agreement schemes still have restriction on PKG system parameters.The assumption limits the application in real network environment.In order to solve these problems,an identity-based cross-domain authenticated key agreement protocol was proposed.There is no restriction on PKG system parameters so that public system parameters,system master keys and system public keys can be totally different.The security of this scheme was analyzed under the eCK model,and the result showed that this protocol satisfies the basic security requirements,perfect forward secrecy and PKG forward secrecy.Moreover,this protocol is robust to the existing attacks such as key compromise impersonation attack and ephemeral key compromise impersonation attack. Comparison with some typical identity-based multi-domain authenticated key agreement protocols showed that this scheme is more secure and efficient.