AWS CloudTrail records user API activity on your account and allows you to access information about the activity. Using CloudTrail, you can get full details about API actions such as the identity of the caller, time of the call, request parameters, and response elements. On the other hand, AWS Config records point-in-time configuration details for your AWS resources as Configuration Items (CIs).

You can use a CI to ascertain what your AWS resource looks like at any given point in time. Whereas, by using CloudTrail, you can quickly answer who made an API call to modify the resource. You can also use Cloud Trail to detect if a security group was incorrectly configured.

https://docs.aws.amazon.com/config/latest/developerguide/security-logging-and-monitoring.html