They are basically the same meaning. If I have to be really picky, then the slight difference is as follows: - "I didn't intend to hurt you" --> shows that you knew your actions would have some affect on the person but you didn't think it would be negative. - I didn't mean to hurt you --> is the more general expression to show that you didn't think that your action would directly affect the person at all.

No difference. Both phrases mean the same thing.