Under normal atmospheric conditions, a Golf ball will fall faster. This is due to its surface area being smaller and it's weight to size ratio being greater than that of a tennis ball. Although a golf ball is designed with flight in mind, this is specifically when induced to high velocity by the swing of a golf club. In realistic terms, it would be difficult to see the difference if dropped from hand by a person of average height standing on the ground.
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Due to newtons laws of gravity, both the tennis ball and basket ball will fall at the same rate. The rebound back up may not be the same result as on the way down though. Do not take this as one drops faster. The tennis ball due to all scientific evidence does NOT drop faster than a Basketball if you where to drop them from the same height at the same time.