Acoustic coupling between solid Earth and atmosphere has been observed since the 1960s, first from ground-based seismic, pressure, and ionospheric sensors and since 20 years with various satellite measurements, including with global positioning system (GPS) satellites. This coupling leads to the excitation of the Rayleigh surface waves by local atmospheric sources such as large natural explosions from volcanoes, meteor atmospheric air-bursts, or artificial explosions. It contributes also in the continuous excitation of Rayleigh waves and associated normal modes by atmospheric winds and pressure fluctuations. The same coupling allows the observation of Rayleigh waves in the thermosphere most of the time through ionospheric monitoring with Doppler sounders or GPS. The authors review briefly in this paper observations made on Earth and describe the general frame of the theory enabling the computation of Rayleigh waves for models of telluric planets with atmosphere. The authors then focus on Mars and Venus and give in both cases the atmospheric properties of the Rayleigh normal modes and associated surface waves compared to Earth. The authors then conclude on the observation perspectives especially for Rayleigh waves excited by atmospheric sources on Mars and for remote ionospheric observations of Rayleigh waves excited by quakes on Venus.