You really have two options. If you would like to be very dramatic, try a dark, crimson lipstick or lip stain. Rich reds mixed with the cool color of blue look extremely good together. The second option is far more subtle. Try a nude lipstick, or a sheer gloss. Whatever you do, stay away from pinks, oranges, and purples.
A bright red would go best with this. You don't want to use a red that has too many blue tones in it, and wearing a bright dress you don't want to wear anything too dark.
Coral shades of lipstick look flattering with a turquoise blue dress. The lightness or darkness of the coral depends on the skin tone of the person. Someone with a darker skin tone should wear darker coral and someone with a lighter skin tone would be best with a lighter coral.