Sounds like you aren't stabilizing properly, check out this tutorial: Dream Stabilization and Clarity Tutorial - Lucid Dreaming - Dream Views
Lucid dreams do in fact feel real, even above so at times, just some people have more need to stabilize than others, some of my stable lucid dreams were false awakenings that managed to create dreamscape that up to some point was very close to waking world in terms of accuracy.
Also i had an DILD that was pretty much WILD from the dream, and it was just as vivid as my more stable WILDs, so answer is, DILDs can in fact be as realistic as WILDs, it's just matter of what clicks with you. The reason WILDs usually feel more vivid for most of people is because we regain awareness directly from waking state, if you can trigger your awareness in DILD in some way you can get it just as vivid and realistic.
And yes, as others said, it does improve with time.