Mars has been known since prehistoric times. Of course, it has been extensively studied with ground-based observatories. But even very large telescopes find Mars a difficult target, it's just too small.
Venus has been known since prehistoric times. It is the brightest object in the sky except for the Sun and the Moon. Like Mercury, it was popularly thought to be two separate bodies: Eosphorus as the morning star and Hesperus as the evening star, but the Greek astronomers knew better.
Mercury has been known since at least the time of the Sumerians (3rd millennium BC). It was sometimes given separate names for its apparitions as a morning star and as an evening star. Greek astronomers knew, however, that the two names referred to the same body. Heraclitus even believed that Mercury and Venus orbit the Sun, not the Earth.
Jupiter is the fourth brightest object in the sky (after the Sun, the Moon and Venus). It has been known since prehistoric times as a bright "wandering star". But in 1610 when Galileo first pointed a telescope at the sky he discovered Jupiter's four large moons Io, Europa, Ganymede and Callisto (now known as the Galilean moons) and recorded their motions back and forth around Jupiter.
Saturn has been known since prehistoric times. Galileo was the first to observe it with a telescope in 1610; he noted its odd appearance but was confused by it. Early observations of Saturn were complicated by the fact that the Earth passes through the plane of Saturn's rings every few years as Saturn moves in its orbit. A low resolution image of Saturn therefore changes drastically. It was not until 1659 that Christiaan Huygens correctly inferred the geometry of the rings.
Nice site:
http://www.nineplanets.org/history.html