Rainbow connection number rc(G) of a connected graph G is the minimum number of colours needed to colour the edges of G, so that every pair of vertices is connected by at least one path in which no two edges are coloured the same. In this paper we show that for every connected graph G, with minimum degree at least 2, the rainbow connection number is upper bounded by γ c (G) + 2, where γ c (G) is the connected domination number of G. Bounds of the form diameter(G) ≤ rc(G) ≤ diameter(G) + c, 1 ≤ c ≤ 4, for many special graph classes follow as easy corollaries from this result. This includes interval graphs, AT-free graphs, circular arc graphs, threshold graphs, and chain graphs all with minimum degree at least 2 and connected. We also show that every bridge-less chordal graph G has rc(G) ≤ 3.radius(G). In most of these cases, we also demonstrate the tightness of the bounds.An extension of this idea to two-step dominating sets is used to show that for every connected graph on n vertices with minimum degree δ, the rainbow connection number is upper bounded by 3n/(δ + 1) + 3. This solves an open problem from [Schiermeyer, 2009], improving the previously best known bound of 20n/δ [Krivelevich and Yuster, 2010]. Moreover, this bound is seen to be tight up to additive factors by a construction mentioned in [Caro et al., 2008].