I think the problem is not related to NetworkManager but dhclient itself. 
Trying to use DHCPv6 in a Debian 8 machine (no GUI/NM) (using "iface eth0 inet6 
dhcp" in /etc/network/interfaces) the "dhclient -6" instance is not started 
either). Only after I run dhclient manually once (as observed by the OP) it 
starts working. I use:

# dhclient -6 -d eth0

Doing this the DUID (type 1) is generated and the configuration manager
works as expected (networkmanager in Ubuntu or ifup/ifdown in Debian).

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https://bugs.launchpad.net/bugs/1484932

Title:
  ipv6 dhcp client never started.

Status in network-manager package in Ubuntu:
  Confirmed

Bug description:
  I'm in a ipv6 network that sets ip number with dhcpv6 and not using
  the stateless protocol.

  but using ubuntu 15.04 there is never any dhclient started for ipv6
  and no way to change any configuration that I can find to start it.

  if I attach the cable and then manually start dhclient with "dhclient
  -6 -i eth3_109" I do get a ipv6 address and things works as intended.

  There has to be some way to star the dhclient software from network
  manager but I can't find it.

  There should be two dhclients started per network device one for ipv4
  and one for ipv6 only one is started for me.

  ProblemType: Bug
  DistroRelease: Ubuntu 15.04
  Package: network-manager 0.9.10.0-4ubuntu15.1
  Uname: Linux 4.1.5-040105-generic x86_64
  NonfreeKernelModules: wl
  ApportVersion: 2.17.2-0ubuntu1.2
  Architecture: amd64
  CurrentDesktop: Unity
  Date: Fri Aug 14 14:32:06 2015
  IfupdownConfig:
   # interfaces(5) file used by ifup(8) and ifdown(8)
   auto lo
   iface lo inet loopback
  InstallationDate: Installed on 2015-04-09 (126 days ago)
  InstallationMedia: Ubuntu 15.04 "Vivid Vervet" - Beta amd64 (20150326)
  IpRoute:
   default via 10.10.1.254 dev eth3  proto static  metric 1024 
   10.10.1.0/24 dev eth3  proto kernel  scope link  src 10.10.1.156 
   10.10.6.0/24 dev eth3_109  proto kernel  scope link  src 10.10.6.14 
   169.254.0.0/16 dev eth3  scope link  metric 1000
  NetworkManager.state:
   [main]
   NetworkingEnabled=true
   WirelessEnabled=false
   WWANEnabled=true
   WimaxEnabled=true
  SourcePackage: network-manager
  UpgradeStatus: No upgrade log present (probably fresh install)
  nmcli-nm: Error: command ['nmcli', '-f', 'all', 'nm'] failed with exit code 
2: Error: Object 'nm' is unknown, try 'nmcli help'.

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