TFTP and FTP are file transfers protocols and have the following differences:
TFTP protocol does not verify the client’s permission.
FTP requires client authentication.
TFTP protocol generally used for LAN and remote UNIX computers.
Usually FTP protocol is used for the Internet.
TFTP use the UDP port 69.
FTP listens on TCP port 21 by default.
TFTP only supports file transfer. TFTP does not allow users to list the contents of a directory or negotiate with the server to determine which files are available.
But in FTP you can upload/download files, also user can list the different directories.