To get specific, energy is defined as the ability to perform work. For example, a baseball being thrown towards a batter has energy in the form of kinetic energy. If the batter misses the ball will perform work on the catcher when it impacts his mitt. There are many different types of energy, but all of them boil down to the ability for one system to perform work on another.
Thus, dark matter has energy in the form of kinetic energy and gravitational potential energy. Normal matter has this same energy in addition to a few others that dark matter does not since normal matter interacts via the other 3 fundamental forces of nature in addition to gravitation. (Forces give rise to energy, not the other way around)
Dark energy is a little different, but I'm not sure how. I just don't know enough about it.
I can say that many scientists believe that there is no such thing as dark energy and that the accelerating expansion of the universe is being driven by some sort of constant or something else to do with geometry. (Because General Relativity, which is what we use to model the universe with, is a theory of Geometry)