Liquids have lesser density than solids. The intermolecular spaces are more in liquids than solids and their intermolecular forces are weaker than solids as the molecules are loosely packed . In solids, the molecules are very closely arranged .Hence having less intermolecular space and strong intermolecular forces . This makes the solids hard and to possess high density. This is why liquids are fluids ( can flow) and have lesser density than solids .
But there is some exception like water and ice. In ice crystal molecules are arranged spaciously leaving huges gap between them. So ice has less density than water.