DP-coloring of a simple graph is a generalization of list coloring, and also a generalization of signed coloring of signed graphs. It is known that for each $k \in \{3, 4, 5, 6\}$, every planar graph without $C_k$ is 4-choosable. Furthermore, Jin, Kang, and Steffen \cite{JKS} showed that for each $k \in \{3, 4, 5, 6\}$, every signed planar graph without $C_k$ is signed 4-choosable. In this paper, we show that for each $k \in \{3, 4, 5, 6\}$, every planar graph without $C_k$ is 4-DP-colorable, which is an extension of the above results.