We present a lattice QCD calculation of the B→Dlν semileptonic decay form factors f+(q2) and f0(q2) for the entire physical q2 range. Nonrelativistic QCD bottom quarks and highly improved staggered quark charm and light quarks are employed together with Nf=2+1 MILC gauge configurations. A joint fit to our lattice and BABAR experimental data allows an extraction of the Cabibbo-Kobayashi-Maskawa matrix element |Vcb|. We also determine the phenomenologically interesting ratio R(D)=B(B→Dτντ)/B(B→Dlνl) (l=e,μ). We find |Vcb|B→Dexcl=0.0402(17)(13), where the first error consists of the lattice simulation errors and the experimental statistical error and the second error is the experimental systematic error. For the branching fraction ratio we find R(D)=0.300(8)
