I am looking for a guideline on configuring CD and CM servers. Sitecore provided this guideline but it is for Sitecore 8.0 and up.
I am looking for Sitecore 7.2 guideline. Please let me know if there's any.
In this guide, Chapter 2.4 specifically, talks about how to convert a CM instance (which is the standard Sitecore install) and make it a content delivery server.
Since this document has come out, there have been some enhancements that the community has provided. One of them is the
SwitchMasterToWeb.config which step 2.4.3 (and referencing Section 4.6) refer to, which you can download on the SDN Scaling Guide Site. A Revised version of this config file was made available by Adam Simsy.
Additionally, while on the topic of setting up Content Delivery servers, when working in production environments, you also want to ensure you are paying attention to the Sitecore Security Hardening Guide, which includes additional information specifically for hardening the security of Content Delivery servers.
You can refer to the Sitecore Scaling Guide from SDN: https://sdn.sitecore.net/upload/sitecore7/70/scaling_guide_sc70_a4.pdf
P.s. Keep in mind that http://doc.sitecore.net contains documentation only for Sitecore 8+ versions. Thus if you are looking for documentation for Sitecore versions prior to 8, you should refer to the https://sdn.sitecore.net/