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Trust relationship among multiple domains is the basis for inter-domain fast authentication. This paper proposes a fast authentication method combining inter-domain trust relationship for wireless mobile IPv6 networks. In order to implement inter-domain trust relationship, a dynamic trust maintenance mechanism is designed. Based on Combined Public Key (CPK) algorithm, a new signature and verification scheme is applied to accelerate the authentication process. This scheme supports the proposed trust-based mutual authentication between mobile node and the access network. Theoretical analysis and numerical results show that the proposed method is more effective in reducing authentication delay and signaling overhead. Additionally, the proposed method is proven to be tolerant of existential forgery and man-in-the-middle attacks.