Federated learning (FL) is a popular privacy-preserving paradigm that enables distributed clients to collaboratively train models with a central server while keeping raw data locally. In practice, distinct model architectures, varying data distributions, and limited resources across local clients inevitably cause model performance degradation and a slowdown in convergence speed. However, existing FL methods can only solve some of the above heterogeneous challenges and have obvious performance limitations. Notably, a unified framework has not yet been explored to overcome these challenges. Accordingly, we propose FedHPL, a parameter-efficient unified $\textbf{Fed}$erated learning framework for $\textbf{H}$eterogeneous settings based on $\textbf{P}$rompt tuning and $\textbf{L}$ogit distillation. Specifically, we employ a local prompt tuning scheme that leverages a few learnable visual prompts to efficiently fine-tune the frozen pre-trained foundation model for downstream tasks, thereby accelerating training and improving model performance under limited local resources and data heterogeneity. Moreover, we design a global logit distillation scheme to handle the model heterogeneity and guide the local training. In detail, we leverage logits to implicitly capture local knowledge and design a weighted knowledge aggregation mechanism to generate global client-specific logits. We provide a theoretical guarantee on the generalization error bound for FedHPL. The experiments on various benchmark datasets under diverse settings of models and data demonstrate that our framework outperforms state-of-the-art FL approaches, with less computation overhead and training rounds.