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A considerable amount of information regarding the processes that occurred during the accretion of the early planetesimals is still present among the small bodies of our solar system. A review of our current knowledge of the density of small bodies is presented here. Intrinsic physical properties of small bodies are sought by searching for relationships between the dynamical and taxonomic classes, size, and density. Mass and volume estimates for 287 small bodies are collected from the literature. The accuracy and biases affecting the methods used to estimate these quantities are discussed and best-estimates are strictly selected. Bulk densities are subsequently computed and compared with meteorite density, allowing to estimate the macroporosity within these bodies. Dwarf-planets apparently have no macroporosity, while smaller bodies can have large voids. This trend is apparently correlated with size: C and S-complex asteroids tends to have larger density with increasing diameter. The average density of each Bus-DeMeo taxonomic classes is computed. S-complex asteroids are more dense on average than those in the C-complex that in turn have a larger macroporosity, although both comple
preprint / 2012