By rationalizing the numerator,
$$\sqrt{n^3 + 1} - n^{3/2} = \frac{(n^3 + 1) - n^3}{\sqrt{n^3 + 1} + n^{3/2}} = \frac{1}{\sqrt{n^3 + 1} + n^{3/2}}.$$
Since
$$\lim_{n\to \infty} \frac{n^{3/2}}{\sqrt{n^3 + 1} + n^{3/2}} = \lim_{n\to \infty} \frac{1}{\sqrt{1 + \frac{1}{n^3}} + 1} = \frac{1}{1 + 1} = \frac{1}{2}.$$
and $\sum_{n = 1}^\infty \frac{1}{n^{3/2}}$ converges (by the $p$-test with $p = 3/2$), by limit comparison, your series converges.