A Data Transfer Object is a kludge for moving a bunch of data from one layer or tier to another, the goal is to minimize the number of calls back and forth by packing a bunch of stuff into the same data structure and sending it together. Some people also use it, like Michael points out in his post here, so that the classes used by one layer are not exposed to the layer calling it. When I refer to DTO as a kludge, I mean there's not a precise abstract concept getting implemented, it's a practical workaround for helping with communication between application layers.
A Value Object is something where we're only interested in its value, like a monetary amount, a date range, or a code from a lookup table. It does not have an identity, meaning you would not be concerned, if you had several of them, of keeping track of which is which, because they are not things in themselves.
Contrast Value Objects to things that do have a unique identity in your system, which are called Entities. If you have a system where it tracks a customer making a payment, the customer and the payment are entities, because they represent specific things, but the monetary amount on the payment is just a value, it doesn't have an existence by itself, as far as your system is concerned. How something relates to your system determines if it is a Value Object or an Entity.