Both of those are perfectly good English. The only situation I can think of where there's any real difference between them is in response to "Haven't you received my letter?" I'd be more likely to say "I have received your letter." to emphasise that I have.

"I have received your letter" unarguably has significance now, in the present. If this is current correspondence, this is what you (or I) would expect to read. "I received your letter" could be used purely in the past, about events that all took place a long time ago, or it could be the introduction to an excuse for why the letter has not yet been dealt with.

Both are possible, it depends on the context.