Well I presume you're keeping Windows XP on that machine, and not installing Windows 7/8... in which case it's kinda pointless upgrading the card to anything beyond DirectX 9 capability. If I remember the Pentium D series was basically 2 Pentium 4's on the same die, instead of true dual core architecture. Regardless, you have about the fastest Pentium D CPU already.
In regards to a good "match" graphics card for that machine, I'd probably go with something like an ATI 3870/4770 or an Nvidia 9600GT/GSO. Both of those options are OVERKILL for the speed of your CPU, but they will maybe increase your minimum FPS even if the max FPS will be severely capped by your CPU. Also you can pick up either on Ebay very cheap. A simple 6-pin PCI-E to Molex power cable can be used if the card requires it.
Truth is, even an ancient ATI X1950 would be overkill for that CPU, but if you installed a good power match card (ie. Nvidia 6800GT or ATI x800 series) then even the new indie games on Steam would choke due to the copious use of pixel shaders in even low end games these days.