The far-infrared (FIR) lines are important tracers of the cooling and physical conditions of the interstellar medium (ISM) and are rapidly becoming workhorse diagnostics for galaxies throughout the universe. Our goal is to explain the main differences and trends observed in the FIR line emission of dwarf galaxies compared to more metal-rich alaxies, and how this translates in ISM properties. We present Herschel/PACS spectroscopic observations of the CII 157 mum, OI 63 and 145 mum, OIII 88 mum, NII 122 and 205 mum, and NIII 57 mum fine-structure cooling lines in a sample of 48 low-metallicity star-forming galaxies of the guaranteed time key program Dwarf Galaxy Survey. We correlate PACS line ratios and line-to-LTIR ratios with LTIR, LTIR/LB, metallicity, and FIR color, and interpret the observed trends in terms of ISM conditions and phase filling factors with Cloudy radiative transfer models.