So if you want to do one of the operations in the sql.functions package[1] then Dataframes (and Datasets) are very valuable.
If not, then they won't give you much benefit. However, you will get a little improvement because the Tachyon out-of-JVM-memory framework[2] which I don't think RDD version has access to.
[1] http://spark.apache.org/docs/2.0.0/api/python/pyspark.sql.ht...
[2] https://dzone.com/articles/Accelerate-In-Memory-Processing-w...
Pushdown is the most obvious one. If I don't know what data store is underlying your RDD, I don't know your schema, and I don't know what column you're projecting, pushdown is impossible. I can't know that with an RDD, because all I know when you call map is that you're converting from type A to type B.
Dataframes make that class of optimization possible, because they have more information (your schema, the underlying store), and have more limited operations (select a column, not an arbitrary map operation).