Endoglin is an auxiliary component of the transforming growth factor- (TGF-) receptor system, able to associate with the signaling receptor types I (TRI) and II (TRII) in the presence of ligand and to modulate the cellular responses to TGF-1. Endoglin cannot bind ligand on its own but requires the presence of the signaling receptors, supporting a critical role for the interaction between endoglin and TRI or TRII. This study shows that full-length endoglin interacts with both TRI and TRII, independently of their kinase activation state or the presence of exogenous TGF-1. Truncated constructs encoding either the extracellular or the cytoplasmic domains of endoglin demonstrated that the association with the signaling receptors occurs through both extracellular and cytoplasmic domains. However, a more specific mapping revealed that the endoglin/TRI interaction was different from that of endoglin/TRII. TRII interacts with the amino acid region 437-558 of the extracellular domain of endoglin, whereas TRI interacts not only with the region 437-558 but also with the protein region located between amino acid 437 and the N terminus. Both TRI and TRII interact with the cytoplasmic domain of endoglin, but TRI only interacts when the kinase domain is inactive, whereas TRII remains associated in its active and inactive forms. Upon association, TRI and TRII phosphorylate the endoglin cytoplasmic domain, and then TRI, but not TRII, kinase dissociates from the complex. Conversely, endoglin expression results in an altered phosphorylation state of TRII, TRI, and downstream Smad proteins as well as a modulation of TGF- signaling, as measured by the reporter gene expression. These results suggest that by interacting through its extracellular and cytoplasmic domains with the signaling receptors, endoglin might affect TGF- responses.