One problem in answering questions like this is that people disagree about the meanings of nearly all of these terms. So... what follows is my opinion (though it is a fairly well-informed one, if I do say so myself).
All languages operate on some set of values, and have some runtime behavior. Trying to add a number to a function fails in nearly all languages. You can call this a "type system," but it's probably not the right term.
So what is a type system? These days, I claim that the term generally refers to a system that examines a program and statically[*] deduces properties of the program. Typically, if it's called a type system, this means attaching a "type" to each expression that constrains the set/class of values that the expression can evaluate to. Note that this definition basically makes the term "dynamically typed" meaningless.
Note the giant loophole: there's a "trivial type system", which simply assigns the "type" containing all program values to every expression. So, if you want to, you can consider literally any language to be statically typed. Or, if you prefer,
"unityped" (note the "i" in there).
Okay, down to brass tacks.
Racket is not typed. Or, if you prefer, "dynamically typed," or "unityped," or even "untyped".
Typed Racket is typed. It has a static type system that assigns to every expression a single type. Its type system is "sound", which means that evaluation
of the program will conform to the claims made by the type system: if Typed Racket
(henceforth TR) type-checks your program and assigns the type 'Natural' to an
expression, then it will definitely evaluate to a natural number (assuming no bugs
in the TR type checker or the Racket runtime system).
Typed Racket has many unusual characteristics that allow code written in TR to interoperate with code written in Racket. The most well-known of these is "occurrence typing", which allows a TR program to deal with types like (U Number String)
(that is, a value that's either a number or a string) without exploding, as earlier similar type systems did.
That's kind of beside the point, though: your question was about Racket and TR, and the simple answer is that the basic Racket language does not have a static type system, and TR does.
[*] defining the term 'static' is outside the scope of this post :).