iPad Initial Speed Test
If your looking for a short answer, AT&T's 3G network is definitely much faster. This is IF signal strength is sufficiently strong for both carriers. Verizon seems to get more coverage where there usually is none. If you had to settle between the two and signal strength is about the same, go with AT&T.
AT&T's network is built on UMTS 3G which is faster. Verizon's is built on CDMA 3G. I've been using OOKLA to speed test the Verizon iPad 2 and my AT&T iPhone 4 simultaneously at numerous locations on 3G in the San Francisco Bay Area. The result? AT&T is a lot faster.
I'm going to perform a more thorough test when the AT&T iPad 2 gets delivered and then I'll return the slower unit back to Apple. I'll tell you what I find.
Brian