Well, if you can't or won't use an "ORM" (object-relational mapper, like Linq-to-SQL or NHibernate - that's exactly what these tools do, and do quite well for you), you'll have to do this yourself.
Converting a DataRow into a domain object model is pretty boring code, really:
public Customer ConvertRowToCustomer(DataRow row)
{
Customer result = new Customer();
result.ID = row.Field<int>("ID");
result.Name = row.Field<string>("CustomerName");
..... // and so on
return result;
}
The biggest challenge here is making this rock-solid and handling (or avoiding) all possible errors (like a field being NULL etc.).
Another possibility would be to have a constructor on your domain model object type that would take a DataRow as parameter and construct a new object from it.
Marc