Dependency Walker only shows DLLs (and you'll need to profile a running process if you want to also catch the DLLs that are dynamically loaded at runtime and not just the ones baked in at compile-time by the linker).
Procmon can show DLL loads, too (filter on LoadImage and CreateFile), but, yea, depends is more specialized and better for DLLs.
Is that what you're looking for? Because you said drivers, and DLLs are not drivers. 😛 If you really are looking for drivers, I'm not sure how (and if) you could tell what user-mode drivers are being loaded and used by a process, but if such a thing were possible, it would probably be in the form of some clue left in a procmon capture.