In a canonical type-I seesaw scenario, the Standard Model is extended with three singlet right-handed neutrinos (RHNs) , 2, 3 with masses , 2, 3 to simultaneously explain sub-eV masses of light neutrinos and baryon asymmetry of the Universe at high scales. In this paper, we show that a relatively low-scale thermal leptogenesis accompanied by gravitational wave signatures is possible when the type-I seesaw is extended with a singlet fermion () and a singlet scalar (), where and are odd under a discrete symmetry. We also add a vectorlike fermion doublet and impose a symmetry under which both and are odd while all other particles are even. This gives rise to a singlet-doublet Majorana fermion dark matter in our setup. At a high scale, the symmetry is broken spontaneously by the vacuum expectation value of and leads to (i) mixing between RHNs (, ) and and (ii) formation of Domain walls (DWs). In the former case, the final lepton asymmetry is generated by the out-of-equilibrium decay of , which dominantly mixes with . We show that the scale of thermal leptogenesis can be lowered to , which is 3 orders of magnitude lower than the thermal leptogenesis in canonical type-I seesaw. In the latter case, the disappearance of the DWs gives observable gravitational wave signatures, which can be probed at LISA, DECIGO, etc.