The mechanical behavior of most metals in engineering applications is dominated by the grain size. Physics-based models of the interaction between dislocations and the grain boundary are important to correctly predict the plastic deformation behavior of polycrystalline materials. Dislocation-grain boundary interaction is complex and a challenge to model. We present a model for simulating the physical transmission of dislocations through grain boundaries within Discrete Dislocation Dynamics tools. The properties (glide plane, Burgers vector, initial length) of the transmitted dislocation are chosen based on geometric criteria as well as a maximization of the resolved shear stress of the transmitted dislocation. Additionally, stress and displacement transparency as well as the discontinuity are ensured via a grain boundary dislocation – a butterfly-like geometry in the general case – whose properties are selected to minimize the residual Burgers vector at the interface. This additional ‘grain boundary dislocation’ allows a direct comparison as well as a calibration of the model with experiments on the macroscale particularly for neighboring grains with a high dislocation density contrast. Two basic examples illustrate the model and an application to a 40-grain polycrystal demonstrates the scalability of the approach.