Asteroid
The dwarf planet Ceres is by far the largest asteroid, with a diameter of . The next largest are 4 Vesta and 2 Pallas, both with diameters of just over . Vesta is the only main-belt asteroid that can, on occasion, be visible to the naked eye. On some rare occasions, a near-Earth asteroid may briefly become visible without technical aid; see 99942 Apophis.
31 Euphrosyne
The mass estimate of Euphrosyne in Baer (2011) makes it apparently the 5th-most-massive asteroid, coming after only the "big four". It also has the highest estimated density, indicating that it is a solid body like the other largest asteroids. However, all large asteroids with comparable densities (16 Psyche and 532 Herculina) have very large uncertainties, so both the mass and density are likely to be lower than the median estimate.