I think grep makes more sense in this case. Assuming you know there is only one result per $id, and don't mind checking the entire datastructure, this should work:

my $domain_ip = (grep {$_->[0] == $domainid} @$table)[0]->[2];
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As in the folloing example:

#!/usr/bin/perl -wT
use strict;

my $table =  [ [7, 'tigers',    600],
               [8, 'elephants', 250],
               [9, 'lions',     500], ];

my $id         = 8;
my $fieldindex = 1;

my $animal = (grep {$_->[0] == $id} @$table)[0]->[$fieldindex];

print "id=$id fieldindex=$fieldindex => animal=$animal\n";

=OUTPUT
id=8 fieldindex=1 => animal=elephants
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-Blake