This paper proposes a hierarchical framework for industrial Internet device authentication and trusted access as well as a mechanism for industrial security state perception, and designs a cross-domain authentication scheme for devices on this basis. The scheme obtains hardware device platform configuration register (PCR) values and platform integrity measure through periodic perception, completes device identity identification and integrity measure verification when device accessing and data transmission requesting, ensures secure and trustworthy access and interoperation of devices, and designs a cross-domain authentication model for trustworthy access of devices and related security protocols. Through the security analysis, this scheme has good anti-attack abilities, and it can effectively protect against common replay attacks, impersonation attacks, and man-in-the-middle attacks.