Pain verb: lastimar, herir, doler, dañar

HERIR: injured, normally only used for physical injury, a wound, a cut, a situation where blood is present.
Los soldados hirieron a un civil durante el conflicto. The soldiers injured a civilian during the conflict.

DOLER is the state of being in pain, also emotional one
 ¿Te duele? = Does it hurt? (aka Are you experiencing pain?)
Me duele el pie. = My foot hurts.
DOLER cannot take a direct object. The thing that hurts is the subject. Me duele el estomago.
Me duele que no me llamaron, I am hurt that they didn't call me.

LASTIMAR is the act of hurting. When something hurts you, the cause of pain
 ¿Estás lastimado? = Are you hurt? (aka Did you get hurt?)
¿Te lastimé? = Did I hurt you?
La silla me lastimó. = The chair hurt me.
LASTIMAR requires a subject and an object (although sometimes they may be implied). El escorpión lastimó al insecto.

DAÑAR in terms of damage to inanimate objects.
La silla dañó el piso. = The chair damaged the floor.
That could hurt someone. Esto podría hacer daño a alguien.
He was playing with his friends and got hurt. ...y se hizo daño.

HACER DAÑO in the same context as LASTIMAR
¿Te hizo daño? = Did it hurt you?
Mi padre no le hizo daño a nadie. My father didn't hurt anybody.