We infer the mean optical depth of a sample of optically-selected galaxy clusters from the Dark Energy Survey (DES) via the pairwise kinematic Sunyaev-Zel'dovich (kSZ) effect. The pairwise kSZ signal between pairs of clusters drawn from the DES Year-3 cluster catalog is detected at $4.1 \sigma$ in cosmic microwave background (CMB) temperature maps from two years of observations with the SPT-3G camera on the South Pole Telescope. After cuts, there are 24,580 clusters in the $\sim 1,400$ deg$^2$ of the southern sky observed by both experiments. We infer the mean optical depth of the cluster sample with two techniques. The optical depth inferred from the pairwise kSZ signal is $\bar{\tau}_e = (2.97 \pm 0.73) \times 10^{-3}$, while that inferre...