"I have received your e-mail" suggests recency and relevance to the present situation. If you are talking about something that happened a long time ago, you would just say "received". It is not wrong to also just use "received" for a recent event, but since in this sentence you will usually be referring to a recent and relevant e-mail, "have received" will usually be appropriate.
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Keith Baltazar 6661 What is the purpose of the auxiliary verb HAVE in a sentence? Can I just say "I received your e-mail rather than I HAVE received your e-mail? Any help would be appreciated!"have" signals the present perfect tense. Without it you have the simple past.