In all of Hadoop, *-default.xml files mostly serve as the documentation for the default values. Default values are all hard-coded anyways into the source. *-site.xml files represent any site specific changes and override the defaults specified in *-default.xml files.
To the specific question, yarn-default.xml and yarn-site.xml are both read by Hadoop YARN daemons, with yarn-default.xml denoting the defaults and yarn-site.xml representing custom configuration values that override those in yarn-default.xml.