Most asteroids orbit at 2 to 3 times the distance between Earth and the Sun. Planets that are "inside" - or before - the asteroid belt (which means they are closer to the sun) are called "inner planets." Planets that are "outside" - that is, after - the asteroid belt are called "outer planets": so Mercury, Venus, Earth, and Mars are "inner planets," while Jupiter, Saturn, Uranus and Neptune are the "outer planets."