Yes, both have same meaning.
Although -지 말아요 is commonly used, it is a wrong form of -지 마요.
-지 마세요 is honorific form of -지 마요.
In the order of politeness
-지 마
-지 마요 or -지 말아요(wrong form)
-지 마세요
-지 마십시오
The longer is the more polite.
They are used when asking, requesting, ordering, or indicating the listener to not do something.