RFC 4347 defines a method to provide communications privacy for datagram protocols. As RTP is a datagram protocol, RFC 5764 applies DTLS to establish the encryption keys for SRTP.
The benefit of using DTLS versus traditional SRTP is that with DTLS the key negotiation is done end-to-end between media endpoints whereas with traditional SRTP, key negotiation is done hop-to-hop between signalling points. The latter allows any party within the signalling chain (the PBX, a SIP provider etc.) to tap in to the communication, as it will know the encryption key used to secure the media data. With DTLS, as the key negotiation is done directly by the media peers, this is no longer possible.