Asteroid
Although their location in the asteroid belt excludes them from planet status, the three largest objects, Ceres, Vesta, and Pallas, are intact protoplanets that share many characteristics common to planets, and are atypical compared to the majority of "potato"-shaped asteroids. The fourth largest asteroid, Hygiea, has an undifferentiated interior, like the majority of asteroids. Between them, the four largest asteroids constitute half the mass of the asteroid belt.
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.