They get at somewhat different things, but I suspect that SICP talks about more fundamental ideas than HtDP, and is therefore a better choice if you're only going to read one of them. (If you're reading both, of course, do whatever.)
SICP is used as the introductory CS text at many universities (Berkeley included) and has no official math prerequisites. I think you should try reading it first, and if you get stuck on a concept like Newton's Method, you can just read about it on Wikipedia.
But otherwise, there was basically no math involved, except as simple illustrations. Good luck! It was a great text.
But in case you are additionally interested in further self-education in mathematics related to computer science, or other onlookers in this thread are, I'll recommend some resources in discrete mathematics,
http://www.artofproblemsolving.com/Resources/articles.php?pa...
especially those directed toward the interests of computer scientists.
One book with good online support is the Art of Problem Solving book on Counting and Probability.
http://www.artofproblemsolving.com/Store/viewitem.php?item=i...
MIT OpenCourseware has a mathematics for computer science course.
http://ocw.mit.edu/courses/electrical-engineering-and-comput...
Princeton has posted lecture notes for a similar course:
http://www.cs.princeton.edu/courses/archive/spr10/cos433/mat...
ArsDigita University also posts math-learning resources online:
http://aduni.org/courses/math/
An Amazon guide to books for self-study and an Amazon list of favorite books may also be helpful:
http://www.amazon.com/gp/richpub/syltguides/fullview/R3NMQ39...
http://www.amazon.com/Computer-Science-and-Math-books-that-I...
Your best bet is just to grab a Scheme interpreter and dive in.