This paper generally compares the essential features between tokamaks and stellarators, based on previous review work individually made by authors on several specific topics, such as theories, bulk plasma transport and edge divertor physics, along with some recent results. It aims at summarizing the main results and conclusions with regard to the advantages and disadvantages in these two types of magnetic fusion devices. The comparison includes basic magnetic configurations, magnetohydrodynamic (MHD) instabilities, operational limits and disruptions, neoclassical and turbulent transport, confinement scaling and isotopic effects, plasma rotation, and edge and divertor physics. Finally, a concept of quasi-symmetric stellarators is briefly referred along with a comparison of future application for fusion reactors.