Domain.com is the original and the one I promote. The UK domain is just there to catch UK users who automatically put .co.uk at the end, instead of .com
Do I still need a permanent 301 redirect from domain.co.uk to domain.com, or will the spiders realise this can't be duplicate content?
That said, it doesn't necessarily mean you will have a problem, but then again, you might. (Not very definitive, am I?) It takes Google a while to sort out duplicate content and decide which pages it want to return - a good bit longer than just a normal indexing cycle in most cases.
I recently ran into a problem with two .com domains (hyphenated and non-hyphenated versions). Had been no trouble for years and then the rankings started getting all tangled. My troubles began when several "overnight" directories sprang up and began using either version of the domain name, willy nilly. The two versions began to develop different backlinks, different PR and eventually, missing pages.
If the .co.uk is only there for type-ins, then I would take the safest path and do the redirect. Why tempt fate?