Fully nonlinear propagation of ion-acoustic solitary waves in a collisionless dense/quantum electron-positron-ion plasma is investigated. The electrons and positrons are assumed to follow the Thomas-Fermi density distribution and the ions are described by the hydrodynamic equations. An energy balance-like equation involving a Sagdeev-type pseudo-potential is derived. Finite amplitude solutions are obtained numerically and their characteristics are discussed. The small-but finite-amplitude limit is also considered and an exact analytical solution is obtained. The present studies might be helpful to understand the excitation of nonlinear ion-acoustic solitary waves in a degenerate plasma such as in superdense white dwarfs