The classical infinitesimal model is a simple and robust model for the inheritance of quantitative traits. In this model, a quantitative trait is expressed as the sum of a genetic and a non-genetic (environmental) component and the genetic component of offspring traits within a family follows a normal distribution around the average of the parents' trait values, and has a variance that is independent of the trait values of the parents. In previous work, Barton et al.(2017), we showed that when trait values are determined by the sum of a large number of Mendelian factors, each of small effect, one can justify the infinitesimal model as limit of Mendelian inheritance. In this paper, we show that the robustness of the infinitesimal model extends to include dominance. We define the model in terms of classical quantities of quantitative genetics, before justifying it as a limit of Mendelian inheritance as the number, M, of underlying loci tends to infinity. As in the additive case, the multivariate normal distribution of trait values across the pedigree can be expressed in terms of variance components in an ancestral population and probabilities of identity by descent determined by the pedigree. In this setting, it is natural to decompose trait values, not just into the additive and dominance components, but into a component that is shared by all individuals within the family and an independent `residual' for each offspring, which captures the randomness of Mendelian inheritance. We show that, even if we condition on parental trait values, both the shared component and the residuals within each family will be asymptotically normally distributed as the number of loci tends to infinity, with an error of order 1/\sqrt{M}. We illustrate our results with some numerical examples.