In my opinion:
OpenBSD - Focused on security above all else. Host project of OpenSSH and pf/carp/altq?. Lags behind on architecture support and performance (Previously poor SMP performance?). Primary use: Router/firewall.
FreeBSD - All around features and performance (zfs,dtrace,pf,linux syscall emulation layer). The most popular, and I believe has the most development effort. Popular freebsd derivatives: pfSense (firewall appliance), FreeNAS (zfs storage appliance), PC-BSD (packaged up for an easier desktop experience). Primary use: Desktop/server/firewall/storage/database.
NetBSD: Focused on architecture support. Supports 57 platforms/15 processor architectures: http://www.netbsd.org/ports/. Primary use: support on embedded/uncommon hardware.
DragonFlyBSD: Interesting technologies being developed: HAMMERfs (compare with zfs), application snapshots, virtualized kernel. Matt Dillon's fork of FreeBSD adding the spirit of AmigaOS. Primary use: Compute clusters?
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