yes, how much of a difference it all depends on the configuration of the pdf, ie image compression etc. Usually a high res low compression pdf is comparable in my experiences.
In theory, a resolution TIFF should give you as good a printed output as any other format, and obviously better than any lossy format, like JPEG.
In practice, if there is any significant amount of text, then I would always go with a PDF, since text from a TIFF always seems to look slightly fuzzy.
Short version: photographic images won't go far wrong with any lossless graphic format. TIFF has always been my preference. Text or more graphical images will probably benefit from a vector format. PDF lets you combine the two.