Domination is a team based game, where killing and being killed is not important. The goal of the game is to reach set Domination Points on a map and hold them for as long as possible (keep enemies from getting to them).
At the beginning of a match, all Domination Points are unoccupied. As soon as a player touches one, it will change color and start adding points to the team's score. Killing and dying only affects the players' individual scores, but NOT the team score. Getting Domination Points in your team's possession is the ONLY method to gain points for the team!
Domination Points usually add 1 point every 5 seconds to the team owning it. Some Domination Points may add more or less points, depending on how easy they are to reach or maintain. For example, a Domination Point which requires a rocket- jump, complicated teamwork or a suicidal jump to reach usually reaps off a greater reward - the problem is when to get to them, if you do it badly timed the enemy might just come at you when you're weakened from your sacrifice... or dead.
Update since 9E:
Domination is totally team oriented where you have to work together and defend
your Domination Points, because controlling a Domination Point also means being
able to (re)spawn directly in its vicinity. The fewer Domination Points you
control, the more often you will respawn at the very same locations after you
die. When this happens and the enemy team KNOWS where you keep respawning due to
you having no control, chances are you will not be able to recapture any
Domination Point... in which case you will be literally... DOMINATED!
On some very small maps you may still be able to spawn near enemy Domination
Points because at least 2 PlayerStarts will never become team-specific, so
if there are just a few PlayerStarts the possibilities to link PlayerStarts
correctly to Domination Points may be limited.
Hint: If you want to see where you can spawn in Domination when a team controls a Domination Point, login as admin and type
admin markactors UTeamPlayerStart
You will see a small marker at each PlayerStart and its color will indicate which team it belongs to. White means "not controlled" and any team can spawn there (except the PlayerStarts INSIDE the Domination Points which are disabled until a DominationPoint is captured ONCE). Also, teammates nearby will increase the chance of additional members spawning nearby and lessen the chance of enemies spawning nearby. For this reason, you need to know when to go off to somewhere else...