The main difference is whether you vibrate your vocal chords, which are in your throat. You vibrate them to slightly amplify your voice from whispering so others can hear you from farther away, while whispering is saved for keeping other people asleep or if you're in a library.
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Speaking involves producing sound with the vocal cords at a normal volume and tone, while whispering is speaking in a hushed or quiet voice by pushing air out of the mouth with minimal vocal cord vibration. Whispering is done to convey a message discreetly or avoid disrupting others.