pfSense has by far the best capabilities of any open source firewall, and better than a bunch of commercial firewalls, when it comes to DoS protection. DDoS you likely can't do anything about unless you have an extremely fast Internet connection. Most DDoS attacks will knock you off the Internet unless you have at least 50 Mb of Internet connectivity, and at times even that isn't enough.
Check the advanced options on the firewall rules add/edit screen, several options there for controlling things.