You don't need DOMS to get a good workout. DOMS is more likely when you are increasing intensity, or doing a new workout. And, though we like to think that that soreness the next day is a good sign (I particularly like glute DOMS!), lack of DOMS could be a sign that you are recovering faster because. I find I don't have a lot of DOMS with P90X workouts, but they are very effective. I think the numerous stretches during the workout help.
Another thing that can reduce DOMS/speed recovery is a diet high in antioxidants, which help with repair of damaged tissue (muscle grows because of microtrauma, or microscopic muscle 'tears', that is repaired to make the muscle bigger and stronger). As my diet has evolved a bit, I notice less DOMS (unless I'm making a jump in the intensity of my workouts, or workout some muscles in a new way, like when I first started doing chin-ups).
Instead of judging how good of a workout you had based on DOMS, think instead of the effort you put in. Were the last few reps of each exercise difficult? Did you feel you were using the heaviest weight possible to complete reps with good form, but not be able to complete more than those reps? Are you seeing results from your workout (results, of course, take longer to show)? If the answer is yes, you're doing just fine.
