See New Features Rolling Out Soon
Go to Classic Sites page https://sites.google.com/site/
Select the site
Click More Actions
Select Manage site.
Click Web Address in the left column.
Click to delete the domain link.
https://sites.google.com/site/sites/system/app/pages/meta/dashboard/deleted
If so you should be able to restore it and remove the domain.
Alternatively you can permanently delete it and the domain should be released within a day or so. My recommendation is to restore and remove.
Thanks Perjury!