Eposodic memory is memory for events we have personally experienced. For example, remembering what you got for your 8th birthday present. Eposodic memory is declarative.
Semantic memory is the memory of facts and knowledge that we have not personally experinced. For example, knowing Paris is the capital of France even though you've never actually visited Paris. Semantic memory is also declarative.
Procedural memory is the memory of how to carry out specific tasks. For example, knowing how to ride a bike. Procedural memory is non-declarative, meaning it cannot be conciously recalled. For example, it is difficult to decribe to somebody how to walk, it's just something we know how to do.