You don’t need RIA Services to access wcf service with Silverlight. Check your solution again. But, for getting rid of this error without installing ria services on the server,
If you are using the Visual Studio Build->Publish option to deploy your application, make sure the System.ServiceModel.DomainServices.Hosting
assembly under the Web Application->References have been marked as Copy Local = True
If you are copying the bits over manually to your deployment server, copy the above assembly to the Web Applications BIN folder right next to your [WebAppName].dll
according http://blogs.msdn.com/saurabh/archive/2010/03/16/ria-services-application-deployment.aspx