TCP establishes a connection before the actual data transmission takes place, UDP does not. In this way, UDP can provide faster delivery. Applications like DNS, time server access, therefore, use UDP.
Unlike UDP, TCP uses congestion control. It responses to the network load. Unlike UDP, it slows down when network congestion is imminent. So, applications like multimedia preferring constant throughput might go for UDP.
Besides, UDP is unreliable, it doesn't react on packet losses. So loss sensitive applications like multimedia transmission prefer UDP. However, TCP is a reliable protocol, so, applications that require reliability such as web transfer, email, file download prefer TCP.
Besides, in today's internet UDP is not as welcoming as TCP due to middle boxes. Some applications like skype fall down to TCP when UDP connection is assumed to be blocked.