Originally, OAuth and OpenId are designed for different purpose: OpenId for authentication and OAuth for authorization. OpenId Connect is a unification of the two and serves for both, but does not change their original functionalities. Keeping that in mind, you should be able to find out yourself. 😉
The id_token is used to identify the authenticated user, e.g. for SSO. The access_token must be used to prove access rights to protected resources, e.g. for the userinfo endpoint in OpenId Connect.