Panasonic G95 has a 20.3MP Four Thirds (17.3 x 13 mm ) sized CMOS sensor and features Venus Engine processor. On the other hand, Nikon D610 has a 24.0MP Full frame (35.9 x 24 mm ) sized CMOS sensor and features Expeed 3 processor.
Another difference between these two cameras is that Panasonic G95's sensor lacks anti-alias (Low-Pass) filter. Removing anti-alias filter increases the sharpness and level of detail but at the same time, it increases the chance of moire occurring in certain scenes.
Below you can see the G95 and D610 sensor size comparison.
As seen above, Nikon D610 has a 3.8x Larger sensor area than Panasonic G95. Larger sensors give photographer more control on the depth of field and blurry background compared to smaller sensor when shot in same focal length and aperture.