Unmanned equipment, such as unmanned underwater vehicles (UUVs) and unmanned surface vehicles (USVs), are widely used in marine science for underwater observation, rescue, military purposes, etc. However, current vehicles are not applicable in complex cross-domain scenarios, because they can only perform well in either surface navigation or underwater diving. This paper deals with the design and fabrication of a cross-domain vehicle (CDV) with four hydrofoils that can both navigate at high speed on the surface, like a USV and dive silently underwater, like a UUV. The CDV’s propulsion is provided by a water jet propeller and its dive is achieved by a vertical propeller. The effect of hydrofoils and the performance of the CDV were tested and characterized in experiments, which showed that the hydrofoils improved the stability and surface sailing speed of the CDV. The maximum speed of the CDV was up to 14 kn, which is the highest of its kind according to current knowledge. This work confirmed the feasibility of high-performance CDVs and provided useful information for further improvements to the design.

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