I think it's a little bit of an unfair comparison given the role each player plays in the ODI team. Dravid was traditionally seen as a Test match player because of his slow ways and certainly worked on his game a lot to be a regular selection in the ODI team. Also, his ideal role as number 3 (reserved for the best batsman in the team, in my opinion) was not as guaranteed given the nuances of the ODI game that forced pinch-hitters, etc.
However, I have not really seen that much of Yousuf to judge him. He is no doubt a class batsman and one of the best Pakistan have ever produced. In the end, my bias would make me pick Dravid since I have seen him come in time and again and rescue India from the doldrums.
In tests, I regard Dravid amongst the top 3 batsmen in international cricket today along with Ponting and a place that is contended by Pietersen, Kallis, Yousuf and others. He is just always there, all the time.