Domingos Martins is approximately 60 km west of the state capital, Vitória, and is 542 meters above sea level.

Bordering municipalities include Castelo, Venda Nova do Imigrante and Afonso Claudio to the west, Santa Maria de Jetiba and Santa Leopoldina to the north, Cariacica and Viana to the east, and Guarapari, Marechal Floriano, Alfredo Chaves and Vargem Alta to the south.

The municipality itself is again subdivided into 5 districts (distritos): Capital (Sede in Portuguese), Aracê, Santa Isabel, Parajú and Melgaço.

Within its borders lie mountains of up to 2000m, amongst which is the well-known Pedra Azul State Park consisting mainly of a quartzite rock jutting out of the surrounding landscape at 1,822m above sea level.

A salient feature in the history of the municipality is the presence of Pomeranian immigrants, who came from a region that is now part of Germany and Poland.