difference between Join Opertaor and its equilvalent where Clause used Query

[Manni78]

Eg.
Select * from Sales s Join Titles t
On S.titleID = t.TitleID
Join Publishers P
On t.PubId = P.PubId

other Format for the same query


Select * from Sales s,Titles t , Publishers P where s.titleId=t.titleId and t.PubId=P.PubId



Tell me is there any difference between two queries
if yes then which one is efficient Performance wise