Tough to quantify "better" but I'd say danios are much less demanding since african cichlids have more specific needs regarding aquascaping, stocking, tankmates, etc. Give danios a minimum 30" long tank in a group of 6 in clean water and they're pretty happy. I'm sure there are some who keep african cichlids who absolutely love them, but you really have to know what you're doing to give them the type of habitat they need to thrive. Danios are overall much less aggressive and more "community-tank friendly."
I have not been attracted to African Cichlids because i have been given the impression that they are kept overcrowded and I like to understock my tanks where possible as I have found my fish live much longer.
I do like Danios and have a couple of decades of experience with different varieties of Zebra Danio. They are a bit hyperactive but provide a lot of movement in a large group! They are also shorter lived than I prefer (mine last about 18 months average). I have also bred them many times which was fun.