The twistor string was originally a topological string in a twistor space. A topological string is a simplified version of the (super)string which is effectively decoupled from the metric of the space through which it moves. Usually, the superstring is studied on a manifold M x X, where M is 4D Minkowski space and X is a 6D Calabi-Yau space, and the topological string is studied just on X, the compactified extra dimensions.
The D-branes of superstring theory are hypersurfaces on which the open strings end. For the open topological string, the branes are special submanifolds of the space X. The topological string comes in two forms, A model and B model; the A-branes are "Lagrangian", the B-branes are "holomorphic" (these labels are shorthand for the detailed properties).
Witten's twistor string is a topological B model on CP(3|4), which is a supertwistor space containing extra fermionic degrees of freedom. Berkovits's construction works differently and I don't understand it. But they are both discussed in arXiv:0708.2276, where it says that Witten's twistor string involves both D1-branes and D5-branes.