For every interpretation $I$ exactly one of $p$ and $¬p$ is evaluated to TRUE.
Thus, for every $I$ we have that $I \vDash D$, and this means that $D$ is tautological.
For the vice versa, assume that $D$ is tautological and that there is no atom negated and unnegated.
If so, we can define an interpretation $I$ as follows:
> if $p∈D$, then $I(p)=False$ and if $¬p∈D$, then $I(p)=True$.
We have $I \
vDash D$, contradicting the fact that $D$ is tautological.