Jutsu is skill, really, and in martial arts context, jutsu is used a lot. You'll notice that many terms have the ending of jutsu, and it really just denotes the skill level, a mastery, a type of method, even. That really just sums up what jutsu is, is that it's skill.
Taijutsu is really body movement, body skill, and in a martial arts context, you have different schools with different body movements, different taijutsu. Taijutsu really denotes a skill in your movement. It also indicates a certain conditioning in the body, and so that term has been used quite broadly in Japanese martial arts history. It's a very wide-open term, but it does denote the skill of moving a body and the conditioning that goes along with it.