Prokaryotic cells are found in bacteria and archaea and lack membrane-bound organelles, while eukaryotic cells are found in animals and plants and contain organelles like the nucleus, mitochondria, and chloroplasts. Key differences include eukaryotic cells being generally larger, containing DNA packaged into chromosomes within a nucleus, and often being multicellular, whereas prokaryotic cells are usually unicellular and lack a nucleus. The two cell types only share vacuoles and vesicles in common.