On Server where DHCP service is running, you need to create for SEP client Firewall, specific rule:
In Firewall policy rules, add blank rule. Then in Service, enable DHCP Server. It will allow inbound and outbound traffic on 67 and 68 ports in both directions for any DHCP requests.
Activate this rule and assign to the Server SEP client.
On another note, do you have Smart DHCP enabled?
This would negate the need to create a firewall rule, see here:
Understanding the Smart Traffic Filters in Symantec Endpoint Protection