I've used 4 online spellcheckers, and only one of them marked it as an error. There are also lots of examples of "I want you kneel" phrase in the internet. I think "want" can act like a modal verb in this context.
I need it for a song 
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Hi, George Yury,
The correct pattern is "want sb to do sth," so you should say "they want you to kneel."
I know that normally "to" should be used, my question is how bad is avoiding it. Does it look illiterate for a native speaker, or just colloquial? You know, the grammar may be "flexible" in songs and poems. E.g., "We don't need no education" is also grammatically wrong, but Pink Floyd sang it.
Though ungrammatical, the double negative in "We don't need no education" can be used by certain illiterate speakers. The pattern "want sb do sth" is never used. You can use a participle after the object, but not a bare infinitive: "they want you kneeling," or "they want you surrendered."
@Gustavo, Co-Moderator posted:The pattern "want sb do sth" is never used.
Gustavo is right, George. "Want sb do sth" is always wrong. It is so bad that anyone who speaks English could rightly assume that someone who says that does not speak English.
@Gustavo, Co-Moderator posted:Though ungrammatical, the double negative in "We don't need no education" can be used by certain illiterate speakers.
In the case of that song, I think the use of the substandard sentence was ironic on Pink Floyd's part. Though the kids' complaints about their teachers may have been valid, it was not true that the kids had no need for education. 
Thanks. got it. Strange that Google finds a lot of "I want you kneel" examples, however.
@George Yury posted:Strange that Google finds a lot of "I want you kneel" examples, however.
Limit the Google search to books and you won't find a single example. Most of the examples on Google are either grammatically irrelevant, because the words in the string belong to separate sentences, or from illiterate pornography.