Jealousy is unpleasant rivalry, resentment, or hostility toward someone who has something that you don’t.
Envy is negative feeling of desire centered on someone who has something that you don't. It's not inherently malicious; just a mix of admiration and discontent. You could say "I envy your lifestyle" or "I envy how you dress" to show your admiration as a compliment.
In other words, jealousy is more extreme than envy by definition.