Differences.
Exoskeleton
1. Hard part that lies outside of the body
2. Develops from ectoderm
3. Composed mainly of hard non-living material called chitin.
Endoskeleton
1. Hard part that lies inside the body
2. Develops from endoderm
3. Composed of living material i.e. bone tissue
Similarities
Both endoskeleton and exoskeleton play a protective role. The endoskeleton protects internal body organs of the organism. The exoskeleton protects the soft body parts and appendages of the organism.
Both endoskeleton and exoskeleton provide structural support and shape to the concerned organism.