Key differences between X509 TLS Client certificate and server certificate

Is there any difference between a X509 TLS client cert and a server cert? I had been implementing certificate-based mutual authentication and hence trying to get/use certificates for IoT devices. While we are pretty clear on server certificates, I was wondering if the client certificates that individual IoT devices will load and present to the server for their authentication are same/similar to what is used for a server. Will client certs also to be acquired from a CA and then they will be validated by a server via root CA cert in the same way as server cert is validated against the root CA?
http://dlvr.it/Rz2zR6