The way I usually see it broken up is "hard sciences" aka physical sciences like physics, medicine, etc -- anything where the science is based on experimentation and evaluation of results -- with a foundation in mathematics; and "soft sciences", where the science is based on observation, case study, and extrapolation. Obviously the predictive value of the "hard sciences" is going to be more reliable, while the "soft sciences" are much more open to individual interpretation. These tend to be somewhat derogatory terms, particularly "soft sciences"; so the terms "physical sciences" and "social sciences" are more commonly used.
Psychology certainly qualifies as hard science as much as medicine does. The lack of experimentation does not reflect a deficiency in the science itself, but rather, an ethical barrier to experimenting on humans; and one that has been violated at various points in the past (yielding valuable data at the cost of inhumanity and atrocity).