Inclusive we includes the speaker and the addressee and it is expressed with the word 咱们。

咱们走吧。 Let’s go!

咱们都是中国人。 We are all Chinese.

Exclusive we includes the speaker and not necessarily the addressee and it is expressed with the word 我们。

我们喜欢学习中文。 We like to study Chinese。

These two words are the same meaning.Generally, people in the north of China are say “咱们”, and people in the sourth of China are say “我们”,

咱们与我们所指对象有所不同。咱们是包括式，一定包括听话人在内，在说话时用来称对方，含有缩短双方距离的意思。我们是排除式，一般不包括听话人在内，有时也可以包括听话人。

We differ from what we are referring to.We are included, must include the listener, in the speech to call the other party, contain the meaning of shortening the distance between the two sides.We are the exclusions, usually not including the listener, sometimes including the listener.

Agree with Julia. 

And there is another level of difference between these two versions: 咱们 tends to convey some cannotation of intimacy between the talker and the listener, while 我们 is a more common / neutral way of indicating “us”.