With the expansion of 5G networks, new business models are arising where multi-tenancy and active infrastructure sharing will be key enablers for them. With these new opportunities, new security risks are appearing in the form of a complex and evolving threat landscape for 5G networks, being one of the main challenges for the 5G mass rollout. In 5G-enabled scenarios, adversaries can exploit vulnerabilities associated with resource sharing to perform lateral movements targeting other tenant resources, as well as to disturb the 5G services offered or even the infrastructure resources. Moreover, existing security and trust models are not adequate to react to the dynamicity of the 5G infrastructure threats nor to the multi-tenancy security risks. Hence, we propose in this work a new security and trust framework for 5G multi-domain scenarios. To motivate its application, we detail a threat model covering multi-tenant scenarios in an underlying 5G network infrastructure. We also propose different ways to mitigate these threats by increasing the security and trust levels using network security monitoring, threat investigation, and end-to-end trust establishments. The framework is applied in a realistic use case of the H2020 5GZORRO project, which envisions a multi-tenant environment where domain owners share resources at will. The proposed framework forms a secure environment with zero-touch automation capabilities, minimizing human intervention.