AWS SNS is a publisher subscriber network, where subscribers can subscribe to topics and will receive messages whenever a publisher publishes to that topic.
AWS SQS is a queue service, which stores messages in a queue. SQS cannot deliver any messages, where an external service (lambda, EC2, etc.) is needed to poll SQS and grab messages from SQS.
SNS and SQS can be used together for multiple reasons.
There may be different kinds of subscribers where some need the immediate delivery of messages, where some would require the message to persist, for later usage via polling. See this link.
The "Fanout Pattern." This is for the asynchronous processing of messages. When a message is published to SNS, it can distribute it to multiple SQS queues in parallel. This can be great when loading thumbnails in an application in parallel, when images are being published. See this link.
Persistent storage. When a service that is going to process a message is not reliable. In a case like this, if SNS pushes a notification to a Service, and that service is unavailable, then the notification will be lost. Therefore we can use SQS as a persistent storage and then process it afterwards.