The acquisition, which was conducted through Domino's wholly-owned subsidiary Domino Deutschland, was valued at an initial consideration payable of €300,000 (£248,000).
Mikrojet Systems is a manufacturer of inkjet printing and ancillary equipment for the commercial printing and mailing sectors.
According to Domino, the deal will enable the company to boost both its sales and marketing presence in Germany, which is a key sales region for the business.
In addition to its customer list, Domino has acquired Mikrojet's IP rights in a mail based product for direct mail system conveyor and feeding units.
Domino will pay commission to Mikrojet on certain sales made over the next three years up to a maximum of £3m.
Through the deal, Mirkojet's sales director Claus Beck and two other employees join Domino's German subsidiary.
Domino Digital Printing solutions business director Philip Easton said: "Mikrojet has achieved a very strong market share position in the direct mail sector through a focused approach.
"This complements our existing mail addressing capability and further strengthens the German team, giving us unparalleled market coverage in this sector in Germany. Looking forward, we expect to leverage this capability in other territories."