I don’t think there is a difference in meaning. “Gullible” is a much more common word, and 100% of people know it. “Credulous” is less common, and some native speakers won’t know what it means. There may be a slight difference in tone: “Gullible” connotes a strong negative judgment (“Wow, you really are a fool!”), while “credulous” might be a softer, less critical way of saying pretty much the same thing.