Here a way I know how to do this:
You can use a custom Host Integrity policy to check to see if the machine in question is part of your AD Domain.
This information is stored in the registry, and you need to craft a custom policy to look at the following registry key. Have the policy fail if it does not match the following key:
HKEY_LOCAL_MACHINE\SOFTWARE\Microsoft\WindowsNT\CurrentVersion\WinLogon\DefaultDomainName
Type: REG_SZ
Data: <YourDomainName>
This registry key is where the default domain name (the last one the machine joined) is stored. There may be other locations in the registry where you can find this info, but this is the only one I know about.