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In terms of core gameplay, Destiny is essentially better as it's pretty much an evolution of the Halo gameplay. As an overall package though, Halo just does more with what it has. The campaign, story and lore are all presented much better than in Destiny. The multiplayer and co-op as well just seem that bit more polished. Halo also doesn't suffer from the sheer grinding that Destiny force you to do.

You could argue that Destiny is an MMO with full character progression which is why the grinding and other issues are present. However, if you compare it with other MMO titles it really only does the bare minimum to be considered as such. It's addictive, but as an overall package I'd say it's inferior to the Halo games. And this is coming from someone who doesn't actually like Halo game, lol.