Stubs provide canned answers to calls made during the test, usually not responding at all to anything outside what's programmed in for the test. Stubs may also record information about calls, such as an email gateway stub that remembers the messages it 'sent', or maybe only how many messages it 'sent'.
Style
Mocks vs Stubs = Behavioral testing vs State testing
Principle
According to the principle of Test only one thing per test, there may be several stubs in one test, but generally there is only one mock.
Lifecycle
Test lifecycle with stubs:
Setup - Prepare object that is being tested and its stubs collaborators.
Exercise - Test the functionality.
Verify state - Use asserts to check object's state.
Teardown - Clean up resources.
Test lifecycle with mocks:
Setup data - Prepare object that is being tested.
Setup expectations - Prepare expectations in mock that is being used by primary object.
Exercise - Test the functionality.
Verify expectations - Verify that correct methods has been invoked in mock.
Verify state - Use asserts to check object's state.
Teardown - Clean up resources.
Summary
Both mocks and stubs testing give an answer for the question: What is the result?
Testing with mocks are also interested in: How the result has been achieved?