In iOS, first time an app tries to do something that requires permission, iOS will ask, eg, app wants to send you notifications, allow / cancel. Android doesn't do that. When you install an app, it lists all the permissions the app wants and either you accept it all or you cancel the install. So in a way, Android is less intrusive but it's an all or nothing deal.
Also, android allows apps to do a lot more than iOS, including having super user privilege (this is the one time when android will ask your permission explicitly). IOS is pretty locked down.