* Pioneer 11 (1979): The first spacecraft to fly by Saturn, providing the first close-up images of the planet and its rings.

* Voyager 1 (1980): Captured detailed images of Saturn's rings, moons, and atmosphere.

* Voyager 2 (1981): Continued the exploration of Saturn, providing further insights into the planet's atmosphere and magnetic field.

* Cassini (2004-2017): The only spacecraft to orbit Saturn, providing an unprecedented view of the planet, its rings, and its moons. Cassini made numerous discoveries, including the detection of methane lakes on Titan and the confirmation of geysers on Enceladus.

While Juno is currently orbiting Jupiter, it has made several flybys of Saturn during its extended mission. However, its primary focus is on Jupiter, and its observations of Saturn are not as extensive as those made by Cassini.

It's important to note that no spacecraft has landed on Saturn itself. The planet's gaseous nature makes landing impossible. However, Cassini's probe Huygens successfully landed on Saturn's moon Titan in 2005.