The electric field manipulation of magnetic anisotropy and domain configuration has been investigated in the artificial multiferroic Co/PMN-PT (011) heterostructure at room temperature. A uniaxial magnetic anisotropy is induced with the application of an electric field, which leads to an electrically switched anisotropic magnetoresistance with tunability as large as ∼29%. Furthermore, the magnetic domain structures of Co films are investigated by magnetic force microscopy under an in situ electric field, which exhibits direct evidence for electric field control of magnetism at the mesoscale. The converse magnetoelectric effect demonstrated in this multiferroic heterostructure has potential to be utilized in magnetoelectric devices with low power consumption.