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The lines that cross Jupiter's moon Europa were first seen by earlier space probes, but Voyager 2 showed that Europa's features were so flat, they "might have been painted on with a felt marker," according to a scientist. It is believed that the planet's surface may be covered by a water ice crust of up to three miles--hiding oceans as deep as 30 miles.
Next stop, Saturn. The Voyagers added to our knowledge of Saturn's moons and signature rings.
This Voyager 1 photo from 1980 showed the fuzzy layer of atmosphere on Saturn's moon, Titan. The Titan findings of the Voyagers helped draw enough interest to send the Cassini spacecraft to Saturn and land a probe on Titan. Cassini is still orbiting Saturn and returning images.