The Signal Protocol[0] is based on OTR, a technology which had already seen a number of implementations and informed scrutiny by the time Signal came along.
Also an important aspect is that it is open sourced, meaning others can audit it. I'm a little untrusting of people that say "trust me" but also "no, you can't look at it." (unless there is a good reason to hide it, which in this case I do not believe there is)
(DH-ratchet is still there. 1536-bit FF-DH was replaced with X3DH etc, but the basic idea is still there. Adding hash ratchet for non-round-trip messaging was a good idea, as was pre-keys stored on server. IMO it's fair to say it's been expanded around OTR)
[0] https://en.wikipedia.org/wiki/Signal_Protocol