It’s an integral part of HTML as defined in the specification:
8.1.1 The DOCTYPE
A DOCTYPE is a required preamble.
DOCTYPEs are required for legacy reasons. When omitted, browsers tend to use a different rendering mode that is incompatible with some specifications. Including the DOCTYPE in a document ensures that the browser makes a best-effort attempt at following the relevant specifications.
Edit to add:
What does this seatbelt do?
What I can see is that, with this seatbelt on, my car behaves the same way as without. How do I know if I need this seatbelt?
You wont know if you’ll need it until something goes wrong and you don’t have it.