They're close in meaning, but 'chitchat' is slightly more negative.
Small talk is often necessary. For example, if you meet a business associate, you might begin the conversation with a few questions about whether it's his first time in the city, how his trip went, what the weather's like etc. It's normal to make small talk in this way for a short while, helping you to feel comfortable in each others' company, before starting to talk business.
You wouldn't use 'chitchat' in the above context. Chitchat is trivial, and may carry with it an implication of being a waste of time, or that you are gossip-mongering.
Interestingly, both 'gossip' and 'chitchat' collocate most commonly with the adjective 'idle'.