No, you do not need to pay the penalty for the other half of the year you did not have health insurance.
Assuming you were in the US for most of 2017, you are considered a "Resident Alien" for tax purposes. However, for purposes of the healthcare penalty, a person on DACA status is considered as "not lawfully present".
In TurboTax, you will say you only had health insurance for part of the year. Then it will bring you to a screen asking if you have a situation that qualifies to waive the penalty. Check the box called "Not a legal US Resident" (even though you are legally in the US, that is the proper box to check). That will enter the proper code to waive the penalty for your DACA status.
