A dwarf planet is a small planetary-mass object that is in direct orbit around the Sun, massive enough to be gravitationally rounded, but insufficient to achieve orbital dominance like the eight classical planets of the Solar System. The prototypical dwarf planet is Pluto, which for decades was regarded as a planet before the "dwarf" concept was adopted in 2006. Many planetary geologists consider dwarf planets and planetary-mass moons to be planets, but since 2006 the IAU and many astronomers have excluded them from the roster of planets.

Dwarf planets are capable of being geologically active, an expectation that was borne out in 2015 by the Dawn mission to Ceres and the New Horizons mission to Pluto. Planetary geologists are therefore particularly interested in them.

Astronomers are in general agreement that at least the nine largest candidates are dwarf planets – in rough order of decreasing diameter, Pluto, Eris, Haumea, Makemake, Gonggong, Quaoar, Sedna, Ceres, and Orcus. A considerable uncertainty remains over the tenth largest candidate Salacia, which may thus be considered a borderline case. Of these ten, two have been visited by spacecraft (Pluto and Ceres) and seven others have at least one known moon (Eris, Haumea, Makemake, Gonggong, Quaoar, Orcus, and Salacia), which allows their masses and thus an estimate of their densities to be determined. Mass and density in turn can be fit into geophysical models in an attempt to determine the nature of these worlds. Only one, Sedna, has neither been visited nor has any known moons, making an accurate estimate of mass difficult. Some astronomers include many smaller bodies as well, but there is no consensus that these are likely to be dwarf planets.

Starting in 1801, astronomers discovered Ceres and other bodies between Mars and Jupiter that for decades were considered to be planets. Between then and around 1851, when the number of planets had reached 23, astronomers started using the word asteroid (from Greek, meaning 'star-like' or 'star-shaped') for the smaller bodies and began to distinguish them as minor planets rather than major planets.

With the discovery of Pluto in 1930, most astronomers considered the Solar System to have nine major planets, along with thousands of significantly smaller bodies (asteroids and comets). For almost 50 years, Pluto was thought to be larger than Mercury, but with the discovery in 1978 of Pluto's moon Charon, it became possible to measure Pluto's mass accurately and to determine that it was much smaller than initial estimates. It was roughly one-twentieth the mass of Mercury, which made Pluto by far the smallest planet. Although it was still more than ten times as massive as the largest object in the asteroid belt, Ceres, it had only one-fifth the mass of Earth's Moon. Furthermore, having some unusual characteristics, such as large orbital eccentricity and a high orbital inclination, it became evident that it was a different kind of body from any of the other planets.

In the 1990s, astronomers began to find objects in the same region of space as Pluto (now known as the Kuiper belt), and some even farther away. Many of these shared several of Pluto's key orbital characteristics, and Pluto started being seen as the largest member of a new class of objects, the plutinos. It became clear that either the larger of these bodies would also have to be classified as planets, or Pluto would have to be reclassified, much as Ceres had been reclassified after the discovery of additional asteroids. This led some astronomers to stop referring to Pluto as a planet. Several terms, including subplanet and planetoid, started to be used for the bodies now known as dwarf planets. Astronomers were also confident that more objects as large as Pluto would be discovered, and the number of planets would start growing quickly if Pluto were to remain classified as a planet.

Eris (then known as 2003 UB₃₁₃), a trans-Neptunian object, was discovered in January 2005; it was thought to be slightly larger than Pluto, and some reports informally referred to it as the tenth planet. As a consequence, the issue became a matter of intense debate during the IAU General Assembly in August 2006. The IAU's initial draft proposal included Charon, Eris, and Ceres in the list of planets. After many astronomers objected to this proposal, an alternative was drawn up by the Uruguayan astronomers Julio Ángel Fernández and Gonzalo Tancredi: They proposed an intermediate category for objects large enough to be round but that had not cleared their orbits of planetesimals. Beside dropping Charon from the list, the new proposal also removed Pluto, Ceres, and Eris, because they have not cleared their orbits.

Although concerns were raised about the classification of planets orbiting other stars, the issue was not resolved; it was proposed instead to decide this only when dwarf-planet-size objects start to be observed.