Access control is critical for collaboration and resource sharing between nodes in the Industrial IoT (IIoT). Existing blockchain combined with access control frameworks cannot address privacy protection issues and dynamic authorization of distributed IIoT equipment. Policy-domain-based access control (PDAC) is an access control scheme with dynamic authorization, granularity, and distributed decision making in a distributed environment. It abstracts unidentified nodes in a distributed system as policy domains and uses the policy domain’s certificate authority to issue access rights. This article proposes a smart-contract-based PDAC (SC-PDAC) framework to address the above problems in distributed IIoT. The framework mainly uses smart contracts to write SigContracts, RequestContracts, DecisionContracts, and DelegationContracts with different levels of security access control for different types of resources. To demonstrate the feasibility of the framework, a local private blockchain was created using the Ethereum blockchain system to conduct scenario experiments. The threat model and features of the framework were also analyzed, concluding that the framework has new features of agentability and controllability. In addition, the costs of existing access control frameworks were compared. The results show that the framework proposed in this article has relatively low computational and gas costs and is more suitable for distributed IIoT.