Both are correct. Each has a different nuance.
If you 'noticed' your wallet was missing, one of your physical senses (sight, touch, etc) has made you aware your wallet is missing. If you 'realized' your wallet is missing, it is more a cognitive event, rather than a physical sense why you are aware your wallet is missing. You have mentally drawn a conclusion your wallet is missing - maybe your physical senses led to this, maybe something else.