There is a v10.67.2.0 driver for the MP210 for OS X 10.8 that should work on 10.10. Here is a link from the Canon Australia web site. Note that this driver is not signed for Yosemite so its install may be blocked by Gatekeeper. To get past Gatekeeper, right-click on the driver installer and select Open from the pop-up menu that appears. Now you will get the option to install the driver.
If after installing you still have issues with using this printer driver then there is an alternate driver suite called Gutenprint that is free or PrintFab that costs. Both driver packages list your MP210 as a supported device.