The strongly typed syntax of grammar formalisms such as CCG, TAG, LFG and HPSG offers a synchronous framework for deriving syntactic structures and semantic logical forms. In contrast—partly due to the lack of a strong type system—dependency structures are easy to annotate and have become a widely used form of syntactic analysis for many languages. However, the lack of a type system makes a formal mechanism for deriving logical forms from dependency structures challenging. We address this by introducing a robust system based on the lambda calculus for deriving neo-Davidsonian logical forms from dependency trees. These logical forms are then used for semantic parsing of natural language to Freebase. Experiments on the Free917 and Web-Questions datasets show that our representation is superior to the original dependency trees and that it outperforms a CCG-based representation on this task. Compared to prior work, we obtain the strongest result to date on Free917 and competitive results on WebQuestions.