The way I see it, Halo is better at everything that it has in common with Destiny. Better multiplayer, better story, characters, more interesting weapons, better level design.
Destiny beats Halo in graphics, art, with the new engine I think it even has better gameplay and shooting. It also obviously wins in things like online coop and raids, loot and RPG character progression, since Halo never tried to be an RPG or an MMO.
At the core of what makes the PvP and the PvE elements of the game, Halo wins hands down.
Its PVP is balanced, skilful, fun with variety of weapon choice and no real op or overused guns. The maps are incredible and memorable. Destiny is full of fusion rifles 1 hitting everyone at the range the decently made but small maps put you into.
Halo's campaign is far and away better in every way than Destiny's "story" mode. It actually told a plot line from start to finish during each game, instead of starting and barely explaining like 10 plot lines and never finishing any of them. Halo had characters you gave a shit about, cohesive cutscene based story telling and missions with clear, varied and mostly well explained objectives. Destiny had Dinklebot, enough said.
While at the current time, I obviously think Halo is better, I believe Destiny had and still has the potential to be better if Bungie take on advice. Like I heard someone say on the forums one time, I love Destiny, I just wish they would stop giving me reasons to hate it.
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Destiny has a good combat mechanics and stuff.
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Destiny does no have a better MP.
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*Golf clap* Excellent summary, and eloquent too.