Intrusive» Magma that doesn't reach earth's surface, and cools inbetween layers of surrounding rock. They usually have a course-grained texture like granite, and diorite.
Extrusive» Forms when lava erupts onto earth's surface. It cools very quickly so there is very little time for crystals to form so they are usually fine-grained. Basalt and andesite are common extrusive igneous rocks.