Superconductivity is characterized by a charged order parameter such as $\langle\psi_\alpha \psi_\beta\rangle \sim \epsilon_{\alpha\beta}\Phi$, where $\psi_\alpha$ is a spin 1/2 fermion of charge $e$, and $\Phi$ carries charge $2e$. If $\psi_\alpha$ is coupled to a $U(1)$ gauge field we find a Higgs (Anderson-Higgs-Meissner) effect, and the photon acquires a "mass".
The existence of a gap is a separate question. We look at the fermion propagator $G_{\alpha\beta}(\omega,k)=\langle\psi_\alpha\psi^\dagger_\beta\rangle_{\omega,k}$, and ask if there are any gapless excitations, that is, if $G(\omega,k)$ has poles $\omega=\epsilon_k$ with $\epsilon_k\to 0$ for some $k$. In (s-wave) BCS theory the absence of gapless modes is an automatic consequence of the presence of an order parameter, but that does not have to be the case.
A trivial counter-example is an order parameter with higher spin/orbital angula momentum. This occurs in $^3He$ ($p$-wave, though neutral) and high $T_c$ compounds (believed to be $d$-wave). In these cases the order parameter has nodal points or surfaces.
What is usually meant by gapless superconductivity is a more complicated situation, $s$-wave superconductivity in the presence of impurities (for example magnetic impurities, or ferro-magnetic order). In this case there is a range of temperatures where the order parameter persists, but the gap vanishes. The standard references are chapter 8 of de Gennes, Superconductivity of Metals and Alloys, as well as chapter 21 of Abrikosov, Fundamentals of the Theory of Metals.