Escalator steps need to be long enough for those with larger feet to stand still comfortably on, in particular with their heels fully on when ascending. The pitch needs to be such that the majority of users can walk up or down comfortably, but not too shallow or that adds unnecessary distance. These factors combine to give the typical (visible) riser height observed.
In contrast, a fixed staircase is designed for all users (unless chair-assisted) to walk up or down comfortably, including most children; adults can take two steps at a time if they wish, and it is not so important for people with larger feet to be able to stand still comfortably. In combination, a smaller typical step length and riser height result in this case.