I'll start my answer by saying that many people misunderstand the Same Origin Policy and what CORS brings to the table.
Some of the up-voted answers already here are stating that the Same Origin Policy prevents cross-site requests, and therefore prevents CSRF. This is not the case. All the SOP does is prevent the response from being read by another domain (aka origin). This is irrelevant to whether a "classic" CSRF attack is successful or not.
By "classic" I'm referring to the types of request that were possible before CORS came about. That is, the types of request that can be sent via HTML forms as well as XHR (e.g. GET or POST without custom headers).
The only time the SOP comes into play with "classic" CSRF is to prevent any token from being read by a different domain.
Of course, now we have CORS and all sorts of cross-domain requests are possible such as PUT and DELETE, CORS does in fact protect against these by requiring a pre-flight. However, generally speaking CORS is not providing greater net benefit because the reason this functionality is available in the first place is due to CORS.
All CORS does is relax the SOP when it is active. It does not increase security (except perhaps allowing cross-domain resource sharing to be standardised and prevent developers from introducing flaws with something like JSONP), it simply allows some exceptions to take place. Some browsers with partial CORS support allow cross site XHR requests (e.g. IE 10 and earlier), however they do not allow custom headers to be appended. In CORS supported browsers the Origin header cannot be set, preventing an attacker from spoofing this.
I mentioned domains were different origins. Origins can also differ by port and protocol when talking about AJAX requests (not so much with cookies).
Finally, all of the above has nothing to do with forged requests coming directly from an attacker, for example with curl. Remember, the attacker needs to use the victim's browser for their attack. They need the browser to automatically send its cookies. This cannot be achieved by a direct curl request as this would only be authenticating the attacker in this type of attack scenario (the category known as "client-side attacks").
The benefit of CORS is that it allows your domain to allow reads from another trusted domain. So if you have http://data.example.org you can set response headers to allow http://site.example.com to make AJAX requests and retrieve data from your API.