Ferroelectric domain structure and evolution in (110)-cut relaxor ferroelectric (PbMg1∕3Nb2∕3O3)0.75(PbTiO3)0.25 (PMN-25PT) single crystal have been studied by means of temperature-dependent piezoresponse force microscopy. It revealed that, during heating, the as-grown PMN-25PT single crystal exhibits a transition from a ferroelectric microdomain structure to a paraelectric phase; while after being cooled back to room temperature the microdomain structure is rebuilt. Domains with size of tens of nanometers were also observed embedded in the microdomains. By contrast, the poled sample exhibits transitions from macro- to microdomain structures at 90 °C and from microdomain structure to paraelectric phase at 115 °C. These direct observations are consistent with temperature-dependent relative permittivity measurements. In situ polarization switching of the domains was also demonstrated.