Because the FCC auctions off portions of the wireless spectrum, and various municipalities control where you can build cell towers, and so a hypothetical telecom startup devoted to the cheaper text message rates must jump through a lot of bureaucratic red tape just to setup the basic infrastructure. Most startups won't bother while there's low-hanging fruit in the unregulated Internet market.
I'm not sure I buy the whole "truly free markets will save us all" argument, but the particular text-messaging argument has a very simple explanation in terms of government monopolies and the cozy relationship between entrenched players and the government.
Again, I'm not certain that free markets are the answer. It may be that telecom is fated to suck, and the regulated alternative sucks less than the complete laissez-faire one. But I am fairly certain that telecom sucks at least in part because of regulation.
So why can't consumers get e.g. cheaper text message rates?