This HDR reviews our current knowledge of the gravity and topography of the terrestrial planets and describes the methods that are used to analyze these data. First, a general review of the mathematical formalism that is used in describing the properties of gravitational fields and topography is given. Next, the basic properties of the gravity and topography of the Earth, Venus, Mars, and the Moon are characterized. Following this, the relationship between gravity and topography is quantified, and techniques by which geophysical parameters can be constrained are detailed. Such analysis methods include crustal thickness modeling, the analysis of geoid/topography ratios, and modeling of the spectral admittance and correlation functions. Finally, the major results that have been obtained by modeling the gravity and topography of the Earth, Venus, Mars, and the Moon are summarized.