International audienceEarth has had oceans for nearly four billion years (1) and Mars had lakes and rivers 3.5–3.8 billion years ago (2). However, it is still unknown whether water has ever condensed on the surface of Venus (3,4) because the planet—now completely dry (5)—has undergone global resurfacing events that obscure most of its history (6,7). The conditions required for water to have initially condensed on the surface of Solar System terrestrial planets are highly uncertain, as they have so far only been studied with one-dimensional numerical climate models (3) that cannot account for the effects of atmospheric circulation and clouds, which are key climate stabilizers. Here we show using three-dimensional global climate model simulat...