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Digital signals are non-continuous, they change in individual steps. They consist of pulses or digits with discrete levels or values. So they are not continuous like the analog signal but are more clunky.
A digital signal can only take discrete values, unlike analog that takes continously varying signals.
Digital signals area a way of sending voice, video or data that reconstructs the signals using binary codes (1s and 0s) for transmission through wire, fire optic cable, videoconference or over air tecniques.
According to Wikipedia an digital Signal is:
"The term digital signal is used to refer to more than one concept. It can refer to discrete-time signals that have a discrete number of levels, for example a sampled and quantified digital signal, or to the continuous-time waveform signals in a digital system, representing a bit-stream. In the first case, a signal that is generated by means of a digital modulation method which is considered as converted to an digital signal, while it is considered as a digital signal in the second case."