diff --git a/qiskit/circuit/library/standard_gates/i.py b/qiskit/circuit/library/standard_gates/i.py
index 40e0976f69d7..8a7c3783ca02 100644
--- a/qiskit/circuit/library/standard_gates/i.py
+++ b/qiskit/circuit/library/standard_gates/i.py
@@ -20,12 +20,14 @@
 class IGate(Gate):
     r"""Identity gate.
 
-    Identity gate corresponds to a single-qubit gate wait cycle,
-    and should not be optimized or unrolled (it is an opaque gate).
+    This gate is a quantum no-op and represents an identity channel on a single qubit.  It will not
+    have a logical effect on the qubit state, and will likely be optimized away by the compiler at
+    all optimization levels (except zero, if ``id`` is specified in the basis of the target).
+    Certain hardware backends *may* choose to implement this instruction with a potentially non-zero
+    idle duration, for example a delay of length equal to that of a single-qubit gate.
 
-    Can be applied to a :class:`~qiskit.circuit.QuantumCircuit`
-    with the :meth:`~qiskit.circuit.QuantumCircuit.i` and
-    :meth:`~qiskit.circuit.QuantumCircuit.id` methods.
+    Can be applied to a :class:`~qiskit.circuit.QuantumCircuit` with the
+    :meth:`~qiskit.circuit.QuantumCircuit.i` and :meth:`~qiskit.circuit.QuantumCircuit.id` methods.
 
     **Matrix Representation:**
 
@@ -48,6 +50,11 @@ def __init__(self, label: Optional[str] = None):
         """Create new Identity gate."""
         super().__init__("id", 1, [], label=label)
 
+    def _define(self) -> None:
+        from qiskit.circuit import QuantumCircuit  # pylint: disable=cyclic-import
+
+        self.definition = QuantumCircuit(1, name=self.name)
+
     def inverse(self):
         """Invert this gate."""
         return IGate()  # self-inverse
diff --git a/releasenotes/notes/fix-igate-definition-7385cff02e663867.yaml b/releasenotes/notes/fix-igate-definition-7385cff02e663867.yaml
new file mode 100644
index 000000000000..59cb5fdf1b1c
--- /dev/null
+++ b/releasenotes/notes/fix-igate-definition-7385cff02e663867.yaml
@@ -0,0 +1,24 @@
+fixes:
+  - |
+    Fixed a bug where certain operations, such as
+    :meth:`.QuantumCircuit.control`, would crash if an identity operation
+    represented by an :class:`.IGate` was present in a :class:`.QuantumCircuit`.
+    For example, the following code was previously an error, but will now function
+    correctly::
+
+        from qiskit import QuantumCircuit
+
+        qc = QuantumCircuit(1)
+        qc.i(0)
+        controlled = qc.control()
+upgrade:
+  - |
+    Qiskit Terra will now generally treat the identity gate :class:`.IGate` (with corresponding
+    circuit method :meth:`.QuantumCircuit.i`) as a quantum no-op, and more aggressively remove it
+    during calls to :func:`.transpile`.  This is a change to previous behaviour that supported
+    legacy IBM Quantum systems where the ``id`` instruction was a short-hand for a delay of the
+    same duration as a non-virtual single-qubit gate (usually ``sx``).
+
+    This changes removes a lot of surprises when working with :class:`.IGate` at a high-level;
+    various circuit and synthesis operations would previously be unable to handle the gate because
+    it appeared as a "magic" opaque instruction.
diff --git a/test/python/circuit/test_circuit_operations.py b/test/python/circuit/test_circuit_operations.py
index 2612f2cfb8c9..07cd611fcd3c 100644
--- a/test/python/circuit/test_circuit_operations.py
+++ b/test/python/circuit/test_circuit_operations.py
@@ -830,6 +830,27 @@ def test_control_implementation(self):
 
         self.assertEqual(ref, c_qc)
 
+    def test_control_primitive_gates(self):
+        """Test that circuits containing primitive gates (with no definition) can be controlled
+        during `QuantumCircuit.control`.
+
+        Regression test of gh-7399."""
+        qc = QuantumCircuit(2)
+        qc.u(0.2, 0.3, 0.4, 0)
+        qc.i(1)
+        controlled = qc.control()
+
+        # The identity gate should have no effect.
+        expected = QuantumCircuit(
+            QuantumRegister(1, name="control"), QuantumRegister(2, name="target")
+        )
+        expected.cu(0.2, 0.3, 0.4, 0, 0, 1)
+
+        self.assertIsInstance(controlled, QuantumCircuit)
+        self.assertEqual(len(controlled.data), 1)
+        instruction, _, _ = controlled.data[0]
+        self.assertEqual(instruction.definition, expected)
+
     @data("gate", "instruction")
     def test_repeat_appended_type(self, subtype):
         """Test repeat appends Gate if circuit contains only gates and Instructions otherwise."""