My Internet Service Provider gave me a dynamic IP address. If I register with a dynamic DNS company, will the Router allow my servers to be seen on the Internet?

Yes. Dynamic DNS servers will work with the Router provided the appropriate ports are forwarded to a static local IP. When the service makes a query of the WAN IP Address, the Router will send back the proper request.
In order for this to function correctly, open your browser and go to http://192.168.1.1
You’ll be prompted for a User Name and Password, by default there is no User Name and the Password is admin.
Once the setup area has loaded click on the Advanced tab, and this will open the Filters area.  
Look for "Block WAN Request", when you find the setting, make sure it’s set to Disable.