Oh, that bloody dragon! By PURE CHANCE, I killed it once. I got just in front of his ugly mug and made many holes in his chin, or something like that He just died
I have a friend who was able to kill the dragon with less problems than if two of those guys with spears were attacking him at the same time. He'd just waltz up to it and poke it like you described. He even showed me how do do it, but it didn't help. Everytime I've tried to mimic his attack I'd get kicked and then burned.