For any quantum system invariant under gauging a higher-form global symmetry, we construct a noninvertible topological defect by gauging in only half of the spacetime. This generalizes the Kramers-Wannier duality line in $1+1$ dimensions to higher spacetime dimensions. We focus on the case of a one-form symmetry in $3+1$ dimensions, and determine the fusion rule. From a direct analysis of one-form symmetry protected topological phases, we show that the existence of certain kinds of duality defects is intrinsically incompatible with a trivially gapped phase. We give an explicit realization of this duality defect in the free Maxwell theory, both in the continuum and in a modified Villain lattice model. The duality defect is realized by a Chern-Simons coupling between the gauge fields from the two sides. We further construct the duality defect in non-Abelian gauge theories and the $Z_N$ lattice gauge theory.