Features.
All 8-series chipsets support the LGA 1150 chips (Only Haswell right now)
Z87 chipsets are the only ones that allow multiplier overclocking of unlocked 'k' series processors. Generally supports SLI/Xfire, but might depend on specific MoBo model.
H87 is almost identical to Z87 except no multiplier OC'ing.
H81 is a budget chipset. No RST, SRT. Only 2 DIMMs. No SLI/Xfire support. Only 2x Sata 6Gb/s ports.
Q87/Q85/B85 are business chipsets. Q87 supports vPro, virutalization, and a laundry list of other instruction sets and special features like RST/SRT. Q85 supports just SIPP I think, and I think B85 supports none (or almost none) of that.
You can look at them side-by-side here:
http://ark.intel.com/compare/75013,75004,75016,75007,75019,75010