Re/Code put together an article on how messaging apps actually use more battery than you think. Unfortunately they don't have many statistics for each app. But I'd say SMS is probably more battery efficient.
I'd say SMS, but that's just a guess. Messaging apps use data, so I would think that would use more data to have the app running and then to send and receive messages. SMS you just have the sending and receiving of messages. Nothing extra for the app itself. iMessage will use data instead of SMS texts though.