When they mean "happy/delightful/pleased",no big difference. Following are differences off the top of my head ;P :
“愉快”is a bit more formal 1.can be used to describe a thing, eg "愉快的旅行" 2.as a wish:"周末愉快!""合作愉快"
“快乐”is both a none, an adjective, and a verb.
eg1"你快乐吗?”(as a verb) 2.as a wish “生日快乐”"圣诞快乐""节日快乐"
In other contexts they can supplant each other i think.....feel free to ask futher questions