Dynamical quantum phase transitions (DQPTs) are topologically characterized in quantum quench dynamics in topological systems. In this paper, we study Loschmidt amplitudes and DQPTs in quantum quenches in mirror-symmetric topological phases. Based on the topological classification of mirror-symmetric insulators, we show that mirror symmetry creates symmetry-protected DQPTs. If mirror symmetry is present, topologically robust DQPTs can occur in quantum quenches, even in high-dimensional time-reversal invariant systems. Then, we also show that symmetry-protected DQPTs occur in quenches in two-dimensional chiral-symmetric systems with mirror symmetry. Mirror-symmetry-protected DQPTs can be easily captured by a reduced rate function. Moreover, we introduce dynamical topological order parameters for symmetry-protected DQPTs. Finally, we demonstrate DQPTs using lattice models for a time-reversal invariant topological crystalline insulator and a higher-order topological insulator.