All of them.
Anything with mass has density.
Inner planets
No. Terrestrial planets are much denser than Jovian planets.
Well, some planets, such as Mercury, have little density. For example, the amount of density in oil compared to water. That scenario is an example of the amount of density that you might expect on such planets as Venus.
Mercury is the smallest of the four inner planets and closest to the sun. It is also the smallest of all eight planets.
The four Jovian planets
The planets with higher density are the Terrestrial planets, which include Mercury, Venus, Earth, and Mars. These planets are composed mostly of rock and metal, resulting in a more compact and dense structure compared to the Jovian planets, which are gas giants made mostly of hydrogen and helium.
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The Earth has the greatest average density, of all the planets.
The average density of the terrestrial planets is greater than the density of Earth's crust. Terrestrial planets have higher densities due to their composition of rock and metal, while Earth's crust is composed of lighter minerals like granite and basalt.
But you CAN determine the size of the planets: in diameter, overall mass, and in density.
All of them do.
Mercury, Earth, Venus, and Mars are considered high-density planets. They have rocky compositions and higher mass compared to the gas giants in our solar system.