Azure Monitor is an operational monitoring solution. Primarily for monitoring Azure resource health. It can be extended to monitor hybrid devices. It includes monitoring dashboards called insights. Azure Monitor is largely a free service. You can create monitoring alerts and responses but no rules are provided out of the box. The alert management tool is also rather limited. Overall it is more of a framework or toolset than a ready to use service. Customers do pay for certain categories for alert rules and for customer-managed data storage. That "customer managed" storage is Azure Monitor Logs; also knows as Log Analytics or formerly OMS workspace.
Sentinel and Defender for Cloud (formerly Azure Security Center) use the same agents and Azure Monitor Logs workspace to store their own monitoring data. Azure Monitor, Sentinel, and MDFC all share the same agents (SCOM as well is using the MMA agent). They can use same workspace or multiple workspaces. One distinction is that Sentinel increases the price of the entire workspace. It is common to combine Sentinel and MDFC in the same workspace while hosting operational Azure Monitor data in a separate workspace.
So Sentinel and Azure Monitor rely on the same agents and workspace capabilities. Sentinel includes data connectors, alert rules, workbooks (dashboards), UEBA, and many more features with a SEIM focus. Sentinel also has a full featured ticket management capability. Sentinel is also a platform for automated alerts responses using logic apps (playbooks). If your focus is on security monitoring then Sentinel is recommended.
I will say if you are a big Windows security shop you might consider that MDO, MDI, MDE, MDCA, and several other Microsoft security tools are being centralized under the Defender 365 portal security.microsoft.com. Also, Defender for Cloud focuses on securing your subscriptions. Sentinel combines these signals with a wide range of 3rd party data sources including Syslog from your network devices. Point being that if you are onboarding Azure-based security solutions you might start with the services that feed Sentinel first.