Evidently they mean a polynomial in several variables and integer coefficients, such that taking all the variables as positive integers gives prime numbers when the value is positive, and all primes. In http://www.math.umd.edu/~laskow/Pubs/713/Diorepofprimes.pdf a polynomial with both modest number of variables and modest degree is given.
EDIT: Andre is right, about this article as well. It says: as the variables range over the non-negative integers, the set of positive values obtained is precisely the set of primes. Evidently, it can sometimes take on negative or zero values despite the variables being non-negative.
There is more to the story; the original reason Matijasevic got all the attention was his proof that there is no algorithm to decide whether a system of Diophantine equations has a solution. I was in college at the time; one of my professors was unhappy about the whole episode, the proof was much easier than anyone had expected, but he had not found it himself.