For general protocol message exchange, which can tolerate some packet loss. How much more efficient is UDP over TCP?
UDP is faster than TCP, and the simple reason is because its non-existent acknowledge packet (ACK) that permits a continuous packet stream, instead of TCP that acknowledges a set of packets, calculated by using the TCP window size and round-trip time (RTT).
For more information, I recommend the simple, but very comprehensible Skullbox explanation (TCP vs. UDP)