The difference is quality. A palfrey is a high quality, expensive horse. A rouncey is, well, an ordinary, common riding horse. A rouncey was also more versatile - in a pinch, you could use one as a warhorse, although they weren't as good as specialist animals. Rounceys were also commonly used as pack horses - and thus, were stockier and more solid than palfreys.
Typically, the knight when off duty would ride a palfrey and his squire would ride a rouncey and lead the war horse.
I'll explain destriers, coursers and finally garrons (mentioned in Game of Thrones) next. Oh, and hobbies. Mustn't forget hobby horses. Which didn't originally mean stick horses.
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