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...because there is row in ldap_group that is referencing the id in a row of the usergroup table we need to delete.  Therefor taht row in the ldap_group table needs to be deleted first.

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DELETE lg FROM ldap_group lg
JOIN usergroup ug ON lg.id = ug.id
WHERE ug.domain_id = 5;

Once the above query has been executed successfully, can you then run..

delete from usergroup where domain_id = 5

However, that may not be the end because there may be another table referencing rows on usergroup

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Here you can use the same join query as above hiowever changing the table name in the first line to match the table name stated in the error above (tbl_policy), and make sure the column name on the second line is changed to group_id

DELETE tp FROM tbl_policy tp
JOIN usergroup ug ON tp.group_id = ug.id
WHERE ug.domain_id = 5;

If you then encounter a third level key constraint issue such as 

Cannot delete or update a parent row: a foreign key constraint fails (`dualshield`.`tbl_policy_applications`, CONSTRAINT `FK61B4ED0FB3470AD4` FOREIGN KEY (`policy_id`) REFERENCES `tbl_policy` (`id`) ON DELETE RESTRICT ON UPDATE RESTRICT) 

Then you need to run a query that inks all three tables together to find and delete the applications tied to the policies that belong to domain_id 5:

DELETE tpa FROM tbl_policy_applications tpa
JOIN tbl_policy tp ON tpa.policy_id = tp.id
JOIN usergroup ug ON tp.group_id = ug.id
WHERE ug.domain_id = 5;

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