The range for the XP from creep deaths seems pretty large, so even if the tower kills the creeps the DG gets the XP.
Pretty sure you get no xp or gold from tower-killed creeps. Would be interested to see this confirmed, though.
I'm pretty sure you get XP and Gold for every creep killed within your sight range (though I'm pretty sure that is split if there are multiple DGs.)
I remember something about how having minions kill creeps for you while you were not there would get you a gold bonus, but nothing for XP. I can't really remember, but I'm pretty sure if you are nearby, tower killed creeps give you EXP.
It's still useful to kill them, though. Saves your tower a bit of a beating.