Note: This page is taken from n.wikia.com.
Action maps are the most common kind of maps in Nv2. They are basically maps that include enemies, although that's not the official definition. There is nothing else that makes them stand out uniformly, but there is a lot of variety in them. Each map can have a different combination of enemies, different tilesets, or different positioning of objects.
A prisoner map is a map where the ninja must stay between two (or more) zap drones while navigating through something resembling an obstacle course. They usually consist of long, narrow passages with many mines, and a few other obstacles. One example of such map is a2-4: Prisoner Exchange (by Fimision).