Cardano wallet is essentially a tool that enables you to interact with the Cardano blockchain.
That way you are able to send, receive, store and stake Cardano’s native cryptocurrency ADA.
Daedalus is a full node wallet. This means that unlike light wallets (e.g.Yoroi) Daedalus downloads a full copy of the Cardano blockchain and independently validates every transaction in its history. That way you get maximum security and completely trustless operation, without centrally hosted 3rd party servers.
Yoroi is a light wallet for Cardano. It’s simple, fast, and secure. Yoroi is an Emurgo product, engineered by IOHK. And it follows best practices for software in the industry including a comprehensive security audit. Daedalus and Yoroi are complements to what they try to achieve. Yoroi looks to be a day-to-day wallet for a Cardano user.