The WMAP first-year results, together with a great deal of data from many other astronomical observations, gives:
- 4% 'atoms' (a.k.a. baryonic matter)*
- 23% cold dark matter (non-baryonic matter, not traveling at relativistic speeds - hence 'cold')
- 73% dark energy.
http://map.gsfc.nasa.gov/m_mm/mr_limits.html
Neutrinos, which are 'hot dark matter', make up a negligible proportion.
Dark matter has been detected in at least four ways:
1) rotation curves of galaxies; the outer regions of spirals (and other types?) are rotating faster than the estimated total amount 'normal' matter we deduce from analysis of the photons we see (mostly light)
2) gravitational lenses; distant galaxies are seen magnified and distorted as the light from them passes through the gravitational field of a closer galaxy or cluster. The amount of mass in the gravitational lens (which we work out from Einstein's GR and the image properties) is greater than we deduce from the light we can see from the foreground galaxy (or cluster)
3) X-rays from galaxy clusters; these come from the thin gas between the galaxies. The temperature of this gas can be deduced, and if we assume a pressure equilibrium, then we can work out the amount of mass there must be in the cluster to keep the gas there. Again, this mass is far greater than that we can esimate from stars, dust, and gas (made of ordinary matter), and from black holes (e.g. at the heart of elliptical galaxies)
4) WMAP; the cosmic microwave background (CMB) has characteristics which reflect the composition of the universe at the time the CMB was formed, ~300,000 years after the Big Bang. Cosmological models fit the observed CMB best if they contain ~23% cold dark matter, ~4% baryonic matter, etc.
'Dark energy' was first convincingly detected in studies of distant supernovae. There studies were undertaken (among other reasons) to better determine the parameters in cosmological models. It was expected that they'd show the expansion of the universe was slowing down. In fact, they showed that it is speeding up. This gave rise to the popular characterisation that it is 'anti-gravity'. Dark energy is one of the most mysterious aspects of the universe.
*BTW, this lends a whole new meaning to the phrase 'scum of the universe'