There isn't any. Потерять/потеря are far more common. Утерять sounds extremely weird to me, in fact I doubt that this word even exist: I can't think of any sentence where it wouldn't sound ridiculous. Утеря is usually used in contexts like: утеря документов, утеря паспорта, утеря водительских прав etc. -- I would say, something between loss and absence. Anyway, потеря is totally ok in this context as well.