According to Je Tsongkhapa (founder of the Tibetan Geluk School), dependent origination and selflessness (or emptiness) of phenomena are the same. This happens to conform with Theravada sources. (Not all, but most, as the Theravada is a huge and varieted School.)
For instance, in one Pali Sutta, after the Buddha has explained the dependant origination, Ananda says that it was a nice and easy teaching, easy for everyone to understand, to which Buddha comments that "do not say so, Ananda, since only because of not understanding dependant origination, living beings are trapped in samsara, so this dependent origination is not easy to see at all". Usually 'the escape' is presented as selflessness or emptiness, but here the Buddha says that it is dependent origination.
They are same same.