They all use 5 volts, the amperage it what's different. All USB ports by spec are limited to 0.5 amps and will charge an iPad slowly, but it is charging, no matter what it says on the battery icon. The iPad power supply puts out 2.1 amps and will charge it up quite quickly.
power = volts x amps
Therefore the USB port put out 2.5 watts of power and the iPad charger puts out 10.5 watts of power. More power the faster it charges to a point, the internal circuits limit it above that, or the battery might explode or over heat.
My thoughts, is that heat is the enemy of batteries, so I charge mine with the USB port overnight, less heat ( lower power) and the battery will last longer. Just the thoughts of an Electronics Eng. with 40 years of experience.