A key enabler for the intelligent information society of 2030, 6G networks are expected to provide performance superior to 5G and satisfy emerging services and applications. In this article, we present our vision of what 6G will be and describe usage scenarios and requirements for multi-terabyte per second (Tb/s) and intelligent 6G networks. We present a large-dimensional and autonomous network architecture that integrates space, air, ground, and underwater networks to provide ubiquitous and unlimited wireless connectivity. We also discuss artificial intelligence (AI) and machine learning [1], [2] for autonomous networks and innovative air-interface design. Finally, we identify several promising technologies for the 6G ecosystem, including terahertz (THz) communications, very-large-scale antenna arrays [i.e., supermassive (SM) multiple-input, multiple-output (MIMO)], large intelligent surfaces (LISs) and holographic beamforming (HBF), orbital angular momentum (OAM) multiplexing, laser and visible-light communications (VLC), blockchain-based spectrum sharing, quantum communications and computing, molecular communications, and the Internet of Nano-Things.