Domitia Lepida Minor (10 BC–AD 54), sometimes known as Domitia Lepida, was the younger daughter of Antonia Major and Lucius Domitius Ahenobarbus. Her sister was Domitia Lepida Major (known as Domitia) and her brother was Gnaeus Domitius Ahenobarbus (father of the emperor Nero). She was a great-niece of Caesar Augustus and granddaughter of Octavia and Mark Antony.

She was married three times. Her first husband was her cousin Marcus Valerius Messalla Barbatus; they married at an unknown date. They had 2 children. Their son Marcus Valerius Messala Corvinus became consul in 58 AD and their daughter Valeria Messalina (17-48 AD) became Empress and third wife to the Emperor Claudius. Between 20 -early 21 AD, Domitia’s husband died of unknown circumstances.

After Messala Barbatus’ death, Domitia married Faustus Cornelius Sulla. Cornelius Sulla was a descendent of the dictator Lucius Cornelius Sulla. In 22 AD, their son Faustus Cornelius Sulla Felix was born. Cornelius Sulla and his brother Lucius Cornelius Sulla were senators, who lived in Tiberius’ reign. Cornelius Sulla died of uncertain causes. Faustus Cornelius Sulla Felix married Claudius’ daughter Claudia Antonia.

Domitia married Appius Claudius Junius Silanus (consul of 28 AD). In those years they cared for their nephew Lucius Domitius (Nero), after his father had died and his mother had gone into exile. After January 41 AD, Lucius Domitius was reunited with his mother. Emperor Claudius had assassinated Silanus, due to Claudius' dream that Silanus would kill him. After that she never remarried.

Domitia Lepida was a beautiful, powerful wealthy and influential figure in Caligula’s and Claudius’ reign. She became the grandmother to Octavia and Britannicus.

Her daughter in 48 AD, was murdered by Claudius due to Messalina's mocked marriage with her lover which later became a political coup. Domita had quarrelled with her at the height of Messalina’s power. In the Gardens of Lucullus, Domitia’s final words to her daughter were: ‘Your life is finished. All that remains is to make a decent end’. This quote is from Tacitus. After Messalina was stabbed with a dagger by an officer, Domitia was left with Messalina’s body.

Her formal sister-in-law, Agrippina the Younger, became Claudius’ new wife in 49 AD. Out of jealousy, Agrippina condemn Domitia Lepida to death sometime before the poisoning of Claudius, after which Nero became the new emperor. Agrippina charged Domitia Lepida with attempting her life by magic, disturbing Italian peace and failing to control her Calabrian slave-gangs. Agrippina thought that Domitia Lepida would use her ‘kind’ influence on Nero, to turn against Agrippina.