What is the difference between an electronic signature and a digital signature?

"Electronic signature" is a legal umbrella term for data in electronic form attached to or logically linked with other data and used to authenticate them, including non-cryptographic forms such as a scanned handwritten signature; a digital signature is the special, cryptographic form that verifies the integrity of a message and guarantees the authenticity of the signer, usually with a digital certificate.

Digital signatures are how secure electronic signatures are built, and how non-repudiation is achieved.

Go deeper:

• Digital signature (Wikipedia) — the cryptographic mechanism.
• Electronic signature (Wikipedia) — the legal concept and how it maps onto digital signatures.