With the rapid development of the internet of things (IoT), traditional industries are setting off a massive wave of digitization. In the era of the Internet of Everything, millions of devices and links in IoT pose more significant challenges to data management. Most existing solutions employ centralized systems to control IoT devices, which brings about the privacy and security issues in IoT data management. Recently, blockchain has attracted much attention in the field of IoT due to its decentralization, traceability, and non-tamperability. However, it is non-trivial to apply the current blockchain techniques to IoT due to the lack of scalability and high resource costs. Different blockchain platforms have their particular advantages in the scenario of IoT data management. In this paper, we propose a cross-chain framework to integrate multiple blockchains for efficient and secure IoT data management. Our solution builds an interactive decentralized access model which employs a consortium blockchain as the control station. Other blockchain platforms customized for specific IoT scenarios run as the backbone of all IoT devices. It is equivalent to opening the off-chain channels on the consortium blockchain. Our model merges transactions in these channels for confirmation based on the notary mechanism. Finally, we implement a prototype of the proposed model based on hyperledge Fabric and IOTA Tangle. We evaluate the performance of our method through extensive experiments. The results demonstrate the effectiveness and efficiency of our framework.