There are a few separate configurations for DNS, which are shown (without much description) in the
Generally speaking, you want to update the DNS settings on the DNS Server (or WAN, for other models) page, and leave the settings on the DHCP page with the defaults.
The DNS Server page lets you specify up to three DNS servers for IPv4 and IPv6: you can use 8.8.8.8 and 8.8.4.4. If you have working IPv6 service you can also use 2001:4860:4860::8888 and 2001:4860:4860::8844. These settings determine the DNS servers that the
router uses, and with the default DHCP settings, all devices on your LAN will be instructed to send DNS queries to your router (although individual devices may be explicitly configured to use a particular DNS service). The router will answer directly if it recently got an answer (e.g. for
www.google.com) or otherwise forward the query to Google Public DNS (this local caching can speed things up for popular domains if you have several devices on your network).
The DHCP page lets you specify up to three DNS servers that will be given as configuration to devices on your network (it's not clear if you can provide an IPv6 address here, or if it would work, as IPv6 typically does not use DHCP). Devices on your network, if not explicitly configured otherwise, will only use the DNS servers you specify; the router will simply forward their queries without any DNS processing, and the DNS Server (or WAN) setting on the router won't have any effect on devices other than the router itself (e.g. if it is checking for firmware updates or something like that). Using the DHCP settings may make sense if your router is very old or slow, but only using the DNS Server (or WAN) settings is generally the best choice.
Lastly, you can ignore any Dynamic DNS setting unless you have a domain that you want to associate with your home address. As I doubt that's what you're trying to do, I won't address it further (
http://int-help.com/en/dynamic-dns-on-your-router-netis/ has instructions if you want to do that).