Basically, the statement is true: when we have a deterministic PDA for a language $L$, we can construct a non-ambiguous grammar for $L$.
The notions of determinism and non-ambiguity are related, but we should be cautious. Determinism for PDA is a kind of 'local' property: In each configuration (state, input symbol, top of stack) the PDA has only a single possible continuation. Non-ambiguity is more 'global': for each word in the language the grammar has only a single derivation tree (or equivalently, a single leftmost derivation).
The two notions are not equivalent: the language of palindromes over a two-letter alphabet does not have a deterministic PDA (it cannot determine when to switch from pushing to popping) but it has a very simple non-ambiguous CFG.
In fact the 'standard' construction from PDA to CFG translates a deterministic PDA into a non-ambiguous grammar. By the construction each leftmost derivation will correspond to a PDA computation. As the deterministic PDA has only a single computation, there will be only a single leftmost derivation.
The above is the basic observation, but unfortunately it is not true if we do not take some technical precautions. First, the standard construction works if we start from a PDA that accepts by empty stack, and not the usual accaptance by final state. This is a restriction, languages accepted by empty stack are necessarily prefix-free (if a string is in the language, none of its prefixes are).
Second, the observation that a deterministic PDA has only a single accepting computation, is not completely true: after accepting the automaton may keep computing with $\epsilon$-moves, and accept the same input again.
Both these problems can be avoided by considering the language $L{\\\$}$ instead of $L$. Here ${\\\$}$ is a special end-marker.
Using the end-marker the PDA can be instructed to clear its stack, and we have empty stack acceptance. Then we obtain a non-ambiguous CFG from the deterministic PDA. Finally we may drop $\\\$$ from the grammar, without really changing the derivations, so without causing ambiguity.