Defining Relative Clauses
They describe the preceding noun and give essential information about the noun. They are introduced by a relative pronoun which can be replaced by THAT or even omitted (except when the relative pronoun is subject of the clause or is in the possessive case). They are not separated by commas.
Non-defining Relative Clauses
They are placed after nouns which are definite already; therefore, the information they add to the noun is not essential. They are always introduced by a relative pronoun which cannot be replaced by THAT and they are separated by commas.
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