Yes, there is. The Date A Live manga brings the world and events of the series to life visually. It offers a different perspective and sometimes includes additional details not present in the original novels.
You could search on dedicated manga websites. Some well-known ones are KissManga or MangaReader. But make sure to use legal and trusted sources to enjoy the manga.
The main differences are in the level of sexual content. The hentai version focuses on that aspect, while the original manga is more about the story and character development. Also, the art style might be tweaked to fit the adult theme in the hentai one.