You can also pass all keys from KEYS command ans transform them into positional arguments to DEL with xargs.
➜ redis-cli KEYS 'domain*'
1) "domain1:key1"
2) "domain2:key3"
3) "domain1:key2"
➜ redis-cli KEYS 'domain*' | xargs -r redis-cli DEL
(integer) 3
➜ redis-cli KEYS 'domain*'
(empty array)