It can be shown --Hull Appendix 3B-- that when interest rates are constant and the same for all maturities, then the futures and forward prices are the same. If the interest rates are stochastic, this relationship does not hold. Whether the forward price is lower than the futures price or higher will depend on the correlation of the underlying asset with the interest rates. This situation arises from the daily settlement procedure that takes place in the futures market. Remember that there is no secondary market for the forward contracts.
Obviously the inverse will also hold, that is to say when the spot-interest correlation is positive we expect forward prices to be lower than the futures ones.
These differences have only a theoretical value, in practice these differences are ignored. Usually the maturity of futures contracts is quite short, and the spot-interest correlation is not that high in absolute terms to imply significant differences. Therefore handbooks and practitioners make the assumption that futures and forwards have the same price, even when interest rates are uncertain. Of course one has to be careful when dealing with longer maturity futures, since then the differences might become quite significant.
In the remaining of these notes we will use the same notation
for both forwards and futures, recognizing the pitfalls.
Kyriakos 2003-03-17