They are indeed equivalent concepts.
Let's begging with the precise definitions:
A bounded function $f:[a,b] \rightarrow \mathbb{R}$ is Riemann integrable
if there exists a real number $I$ such that given $\varepsilon>0$
there exists a $\delta>0$ such that for any partition $P=\{a=x_0 < x_1
< \cdots < x_n\}$ with diameter less than $\delta$, and any family of
intermedian points $T$, with $t_i \in [x_{i-1}, x_{i}]$ with $i=1, \cdots, n$,
we have that $$\left| \sigma(P,T)
-I\right|<\varepsilon$$
where
$$\sigma(P,T)=\sum_{i=1}^n f(t_i)(x_i-x_{i-1})$$
We say that $I$ is the integral of $f$ on $[a,b]$.
A bounded function $f:[a,b] \rightarrow \mathbb{R}$ is Darboux integrable
if its superior and inferior integrals are the same, where these
integrals are defined as $$\underline{\int_a^b}f = \sup\left\{ s(P): P
\text{ is a partition of } [a,b] \right\}$$ $$\overline{\int_a^b}f =
\inf\left\{ S(P): P \text{ is a partition of } [a,b] \right\}$$ Here,
given a partition $P=\{a=x_0 < x_1 < \cdots < x_n\}$ it is defined
$$s(P)=\sum_{i=1}^n \left(\inf_{[x_{i-1},x_i]}f(x)\right)
(x_i-x_{i-1})$$ $$S(P)=\sum_{i=1}^n
\left(\sup_{[x_{i-1},x_i]}f(x)\right) (x_i-x_{i-1})$$
We say that $I=\underline{\int_a^b}f=\overline{\int_a^b}f$ is the integral of $f$ on $[a,b]$.
Now, to prove the equivalence, we need some lemmas:
LEMMA 1: $f:[a,b] \rightarrow \mathbb{R}$ is Darboux integrable if, and only if, given $\varepsilon>0$ there exists a $\delta>0$ such that
for any partition $P$ with diameter less than $\delta$ we have that
$S(P)-s(P)<\varepsilon$.
LEMMA 2: Given a function $f:[a,b] \rightarrow \mathbb{R}$ and a partition $P$ of $[a,b]$ it is satisfied:
$$s(P)=\inf\left\{\sigma(P,T): T \text{ is an intermedian family of
points of }P \right\}$$ $$S(P)=\sup\left\{\sigma(P,T): T \text{ is an
intermedian family of points of }P \right\}$$
With these two lemmas it is easy to prove the result:
First suppose that $f:[a,b] \rightarrow \mathbb{R}$ is Riemann integrable with integral $I$.
Then, given $\varepsilon>0$ there exists a $\delta>0$ such that for any given partition $P$ with diameter less than $\delta$, and any intermedian family of point $T$ we have that $|\sigma(P,T) - I|<\varepsilon/3$.
So, by Lemma 2, we have that if the diameter of $P$ is less than $\delta$ then
$$I-\varepsilon/3 \leq s(P) \leq S(P) \leq I+\varepsilon/3 \hspace{5mm} (1)$$
ans so
$$S(P)-s(P) \leq (I+\varepsilon/3) - (I-\varepsilon/3) < \varepsilon$$
Then, by Lemma 1 we have that $f$ is Darboux integrable (and furthermore, it is easy to see from (1) that $I$ is equal to both superior and inferior integrals).
On the other hand, suppose now that $f:[a,b] \rightarrow \mathbb{R}$ is Darboux integrable with integral $I$.
Then, given any partition $P$ of $[a,b]$ and any family of intermedian points $T$, we have by Lemma 2 that
$$s(P) \leq \sigma(P,T) \leq S(P)$$
and by definition of Darboux integral that
$$s(P) \leq I \leq S(P)$$
so we have that
$$\left| \sigma(P,T) -I \right| \leq S(P)-s(P) \hspace{5mm} (2)$$
Now, given $\varepsilon>0$, by Lemma 1, there exists a $\delta>0$ such that for any given partition $P$ with diameter less than $\delta$ we have that $S(P)-s(P)<\varepsilon$.
Then, by (2) we have that if the diameter of $P$ is less than $\delta$ and $T$ is any family of intermedian points of $P$, then
$$\left| \sigma(P,T) -I \right| \leq S(P)-s(P) < \varepsilon$$
and that implies, by definition, that $f$ is Riemann integrable.
EDIT
The proof of Lemma 2 is immediate from the definitions, and to prove Lemma 1 is enough to prove the following result:
Given a bounded function $f:[a,b] \rightarrow \mathbb{R}$, a partition
$P_0$ of $[a,b]$ and $P$ another partition obtained by adjoining $p$
points to $P_0$, we have that $$s(P)-s(P_0) \leq 2pK|P|$$
$$S(P_0)-S(P) \leq 2pK|P|$$ where $K$ is any bound of $|f(x)|$ and
$|P|$ denotes the diameter of $P$.
And, this one can be proven by induction on $p$.