Daedalus is a full node, this means it downloads and synchronizes with the blockchain.
It's developed by IOHK, the blockchain research and development company behind Cardano.
fully validates every block and transaction, you don't need to trust anyone
create secure and fancy looking paper wallets
supports as many wallets as you like
needs time to synchronize when opening, cumbersome on bad internet connections
needs a lot of disk space (more than 4.5 GB)
since it's a full node some users do have some problems from time to time, for several reasons
no support for hardware wallets like Trezor or Ledger Nano (will change soon)
Yoroi is a lightweight node, this means it doesn't need to download and synchronize with the blockchain.
It's developed by Emurgo, the commercial arm of Cardano.
just open and use it - instantly
it doesn't need much space (less than 20 MB)
as a Chrome browser extension Yoroi is sandboxed by design
supports Trezor and Ledger hardware wallets (for example TREZOR-T and Nano Ledger S)
a lightweight node has to connect to a full node, this means you need to trust a 3rd party (of course not with your private key, but e.g. reliability)
is able to import paper wallets, but can not create them.
currently no multi wallet support
Android and iOS Wallet
In fact, we're not big fans of Web-Wallets and can only recommend them in combination with a Hardware-Wallet, like the Ledger Nano S or the TREZOR-T.
But then, AdaLite.io shows its advantages, because it leaves no traces behind. After using AdaLite.io you can no longer "look into" the account to see the balance, unless you replug your hardware wallet.
There are others
There are other wallets like Infinito or Atomic Wallet and we know people that are happy with them.
Since we would not use them ourselves at the moment, we cannot recommend them here. In our opinion wallets should be open source. This does not mean they are insecure or bad.
More about wallets and their attack vectors