Bruce Murray Space Image Library
Compositions and Densities of Solar System Worlds
If you are wondering where the giant planets would plot on this chart: Uranus and Neptune are made mostly of water and other ices and have similar density to Enceladus, while Jupiter and Saturn are made mostly of hydrogen and helium and have lower densities bracketing the density of water.
Data sources:
- Planet densities
- Asteroid densities calculated from volumes and masses
- Trans-Neptunian object densities
A more printer-friendly version (with a white background) is available here.