Wiki puts it very nicely
Virtualization
The term "virtualization" was coined in the 1960s to refer to a virtual machine (sometimes called "pseudo machine"), a term which itself dates from the experimental IBM M44/44X system. The creation and management of virtual machines has been called "platform virtualization", or "server virtualization", more recently.
Platform virtualization is performed on a given hardware platform by host software (a control program), which creates a simulated computer environment, a virtual machine (VM), for its guest software. The guest software is not limited to user applications; many hosts allow the execution of complete operating systems. The guest software executes as if it were running directly on the physical hardware, with several notable caveats. Access to physical system resources (such as the network access, display, keyboard, and disk storage) is generally managed at a more restrictive level than the host processor and system-memory. Guests are often restricted from accessing specific peripheral devices, or may be limited to a subset of the device's native capabilities, depending on the hardware access policy implemented by the virtualization host.
Hardware-assisted virtualization
In hardware-assisted virtualization, the hardware provides architectural support that facilitates building a virtual machine monitor and allows guest OSes to be run in isolation. Hardware-assisted virtualization was first introduced on the IBM System/370 in 1972, for use with VM/370, the first virtual machine operating system. In 2005 and 2006, Intel and AMD provided additional hardware to support virtualization. Sun Microsystems (now Oracle Corporation) added similar features in their UltraSPARC T-Series processors in 2005. Examples of virtualization platforms adapted to such hardware include Linux KVM, VMware Workstation, VMware Fusion, Microsoft Hyper-V, Microsoft Virtual PC, Xen, Parallels Desktop for Mac, Oracle VM Server for SPARC, VirtualBox and Parallels Workstation.
Also refer to the following links for more explanations:
http://searchvmware.techtarget.com/definition/hardware-virtualization
http://www.anandtech.com/show/2480