This article presents a 3D-printed cylindrical dielectric resonator antenna operating at 5.8 GHz that achieves circular polarization by integrating a fully dielectric parasitic helix with a higher permittivity than the cylindrical resonator. The antenna polarization can be right-handed or left-handed depending on the turning sense of the helix. An extensive parametric study was done for the helix design to evaluate the effects of the dimensions and dielectric constant of the helix over the matching and axial ratio of the antenna. The manufacturing is made using low-loss dielectric filaments and a low-cost 3D printer. Simulation and measurement results show that both antennas are well-matched and operate with the corresponding circular polarization, with an axial ratio bandwidth compatible with UAV applications.