In recent decades, solar-driven hydrogen production over semiconductors has attracted tremendous interest owing to the global energy and environmental crisis. Among various semiconductor materials, TiO₂ exhibits outstanding photocatalytic properties and has been extensively applied in diverse photocatalytic and photoelectric systems. However, two major drawbacks limit practical applications, namely, high charge-recombination rate and poor visiblelight utilization. In this work, heterostructured TiO₂ nanotube arrays grafted with Cr-doped SrTiO₃ nanocubes were fabricated by simply controlling the kinetics of hydrothermal reactions. It was found that coupling TiO₂ nanotube arrays with regular SrTiO₃ nanocubes can significantly improve the charge separation. Meanwhile, doping Cr cations into SrTiO₃ nanocubes proved to be an effective and feasible approach to enhance remarkably the visible-light response, which was also confirmed by theoretical calculations. As a result, the rate of photoelectrochemical hydrogen evolution of these novel heteronanostructures is an order of magnitude larger than those of TiO₂ nanotube arrays and other previously reported SrTiO₃/TiO₂ nanocomposites under visible-light irradiation. Furthermore, the as-prepared Cr-doped SrTiO₃/TiO₂ heterostructures exhibit excellent durability and stability, which are favorable for practical hydrogen production and photoelectric nanodevices.