In my classes I summarize IKEv2 as a simplification and roll-up of RFC features like DPD/NAT-T that were tacked on to the original IKEv1 to handle situations not envisioned in the original IKEv1 spec (which was codified in the late 1990s). IKEv2 also supports IPv6.
In regards to security of IKEv1 vs. IKEv2, as noted by Wikipedia IKEv2 is more resistant to DoS attacks, but overall IKEv1 is still plenty secure as long as the the proper encryption/hashing algorithms and Diffie Hellman groups are employed.
My overall recommendation is to use IKEv2 (especially for Check Point to Check Point VPNs) but if functionality or stability issues are encountered with IKEv2 in an interoperable scenario, do not hesitate to return to IKEv1. It took almost ten years for IKEv1 interoperability to become more or less seamless, and IKEv2 has definitely had some growing pains. Mention the term "IKEv2 tunnel narrowing" to an experienced Check Point VPN administrator and watch them shudder.
Attend my online "Be your Own TAC: Part Deux" CheckMates event
March 27th with sessions for both the EMEA and Americas time zones