Depends on the level of detail you want.
The Pentium D is based on the Netburst microarchitechture. It's essentially two Pentium 4s.
The Core Duo is based on a modified form of the P6 microarchitecture. It's essentially a revised Pentium M. And the Pentium M is essentially a revised Pentium III, which is essentially a Pentium II, which is very similar to the Pentium Pro (that is, the P6). At a given clock speed, a Core Duo will outperform a Pentium D.
The Core 2 Duo (which I'm guessing you're refering to) is based on the Core microarchitecture. It's mostly similar to the Core Duo, but with aspects of Netburst folded in. At a given clock speed, a Core 2 Duo will outperform a Core Duo by a bit, and a Pentium D by considerably more.
If you really want the nitty-gritty of the differences, there's an Ars article I could hunt down.