The average density of a planet is determined by its mass and volume. Earth, being a rocky planet, has a higher average density compared to the gas giants or ice planets. Mercury, while small, is also a rocky planet, but Earth has more mass and a higher density overall. The densities of the planets are as follows:
- Mercury: 5.427 g/cm³
- Venus: 5.243 g/cm³
- Earth: 5.514 g/cm³
- Mars: 3.933 g/cm³
Thus, Earth has the highest average density among the given planets.