Let $G$ be a simple graph with vertex set $V$. A double Roman dominating function (DRDF) on $G$ is a function $f:V\rightarrow\{0,1,2,3\}$ satisfying that if $f(v)=0$, then the vertex $v$ must be adjacent to at least two vertices assigned $2$ or one vertex assigned $3$ under $f$, whereas if $f(v)=1$, then the vertex $v$ must be adjacent to at least one vertex assigned $2$ or $3$. The weight of a DRDF $f$ is the sum $\sum_{v\in V}f(v)$. A total double Roman dominating function (TDRDF) on a graph $G$ with no isolated vertex is a DRDF $f$ on $G$ with the additional property that the subgraph of $G$ induced by the set $\{v\in V:f(v)\ne0\}$ has no isolated vertices. The total double Roman domination number $\gamma_{tdR}(G)$ is the minimum weight of a TDRDF on $G$. In this paper, we give several relations between the total double Roman domination number of a graph and other domination parameters and we determine the total double Roman domination number of some classes of graphs.