I have gone through all the Cordova docs and followed all the instructions yet, I cannot get iOS icons and splash screens to display. Only the default icons and splash screen.

This should be easier than it is?

Hello Brad,
The splash screen should be added in the configuration xml file of your app. For now you should just manually add it inside the xml file. This will come as an addon later. Please refer to the cordova documentation explaining this:
cordova.apache.org/docs/en/5.0.0/config_ref_images.md.html

Yes, that is the documentation I did follow. And neither icons or splash screen were displayed.

Solved here: www.dmxzone.com/support/23131/topic/60823/