An outline format is the best format for taking notes because it allows you to distinguish between major and minor points. Paragraph form is all right too, as long as you use your own words and don't try to write down your professor's every word. If you miss a point, try to get the professor to repeat it. If this is not possible, skip some space and continue taking notes. You can get the material you missed after class.
Some students find it helpful to take notes on the right half of the page.
The left half can then be used for organizational notes, or cue words, or notes from the textbook or outside material on the same topic. It is important to pay attention the entire class period. Sometimes lecturers do not pace themselves well and give half the lecture and the most important points in the last ten minutes. Once you have taken class notes, you should review them regularly. The first review should occur immediately after class, or at least before the day's end.