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D lenses have an aperture ring, G lenses don't.
D lenses in general (always?) must be driven by the camera for focus.
G lenses have their own focus motor. They also have a wider range of sophisticated metering modes (the electronics are more modern).
One is not necessarily better than another. Optically, most G lenses are tuned for digital sensors, whereas D lenses are more from the film era. On the other hand, you find a higher proportion of D lenses with stronger (particularly metal) works. But these are all generalisations.
There are more and less sharp lenses in both G and D designations, particularly since the range is large and prices vary greatly. For example, could you expect an 18-55 to perform as well as a 24-70, which is many times the price?
I have G, D and AIS lenses and find all work well (my signature is a bit out of date!).
So, the best advice I can give is assess fitness for purpose and always test a lens on your camera before buying.
_________________ HCC Nikon DSLRs, film cameras from Leica to Linhof
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