I think you could just call it a deep or passionate kiss, and people will get the idea.
However, if this is a romance novel, I assume when you actually describe that moment you will "show, not tell" about the kiss? So you'd describe what they experience, such as "he pulled her close and his lips came down upon hers. He demanded entry and began to plunder her mouth. Heat streaked through her veins. She stroked her fingers over his face, memorizing every detail." All that sort of thing! Just checking.