left them 32 points from safety with just two fixtures remaining against Leicestershire and Sussex.
The Rose and Crown sit bottom of the table after just two wins all season, losing seven and drawing three.
"You're sort of needing a little bit of a miracle now," Domingo told BBC Radio Solent.
"We need to play better cricket and we want to sort of finish this campaign well, it's devastating and it's bottom of the table and it looks dark.
"But I think some wise recruitment in a few important positions and we won't be that far off, if you are in the second division next season we've got to learn how to win again.
"We have to find the positives going forward and try and and develop a team that can compete in the first division in a couple of seasons. "
Nottinghamshire struck an impressive 377 in their first innings before Hampshire replied with 304.
The Rose and Crown then came alive with the ball in the second innings as they bowled their opponents out for 104 as debutant Manny Lumsden claimed a five-wicket haul.
But as Hampshire went in chase of 178 to try and secure what would have been a shock win, they slipped up short and posted 123.
"We've got to try and strengthen certain departments," Domingo added.
"Because It's two seasons in a row that we're facing relegation. Last season we got out of jail and this season it's highly likely [they go down].
"We've just got to face that and sort of front up to that and try and strengthen the squad going forward because not good enough at the moment. "
from fellow South African Adi Birrell who departed the county at the end of last season.
He led Hampshire Hawks to T20 Finals day this summer where they reached the final before losing by 14 runs to Northamptonshire Steelbacks at Edgbaston.
