diff --git a/docs/agent.rst b/docs/agent.rst
index 6beeb5e..58d1595 100644
--- a/docs/agent.rst
+++ b/docs/agent.rst
@@ -206,6 +206,15 @@ The following is a table listing these parameters and the functionalities they c
          - :code:`<number>`
          - :code:`65535`
 
+.. _agent_configuration_domain_id:
+
+Domain ID
+^^^^^^^^^
+
+The Domain ID of the Domain Participants created by the Agent can be overrided at runtime with the environment variable ``XRCE_DOMAIN_ID_OVERRIDE``.
+
+To allow this override, the *Client* shall use the reserved Domain ID value ``255`` when the participant is created.
+
 .. _creation_mode_agent:
 
 Creation Mode: Agent
diff --git a/docs/agent_api.rst b/docs/agent_api.rst
index 8124784..011b815 100644
--- a/docs/agent_api.rst
+++ b/docs/agent_api.rst
@@ -161,7 +161,7 @@ It returns ``true`` if the creation was successful, ``false`` otherwise.
 
 :client_key: The identifier of the ``ProxyClient`` to which the resulting participant will be attached to.
 :participant_id: The identifier of the participant to be created.
-:domain_id: The DDS domain ID associated to the participant.
+:domain_id: The DDS domain ID associated to the participant. The value ``255`` is can be used to configure this value on the Agent at runtime (see :ref:`agent_configuration_domain_id`).
 :xml: The XML describing the participant properties.
 :flag: It determines the creation mode of the new participant (see :ref:`creation_mode_client` and :ref:`creation_mode_agent`).
 :op_result: The result status of this operation.
@@ -182,7 +182,7 @@ Returns ``true`` if the creation was successful, ``false`` otherwise.
 
 :client_key: The identifier of the ``ProxyClient`` to which the resulting participant will be attached to.
 :participant_id: The identifier of the participant to be created.
-:domain_id: The DDS domain ID associated to the participant.
+:domain_id: The DDS domain ID associated to the participant. The value ``255`` is can be used to configure this value on the Agent at runtime (see :ref:`agent_configuration_domain_id`).
 :ref: The reference tag which will retrieve the participant description from the file where the references are defined, previously loaded to the *Agent*.
 :flag: It determines the creation mode of the new participant (see :ref:`creation_mode_client` and :ref:`creation_mode_agent`).
 :op_result: The result status of this operation.