The peripheral nervous system consists of cranial nerves and spinal nerves.
Spinal nerves: Spinal nerves arise from the either side of the spinal cord and there are 31 pairs. Spinal nerves take impulses to and from the spinal cord and control skeletal muscle contraction. Spinal nerves are a part of the PNS.
Cranial Nerves: 12 pairs of cranial nerves arise from the brain are concerned with the head, neck, and facial regions of the body. Cranial nerves take impulses to and from the brain.