Small planetary bodies in the solar system, including Io, Ganymede, and Callisto, may have a crust denser than their underlying mantle. Despite the inherent gravitational instability of such structures, we show that the growth timescale of the Rayleigh–Taylor (RT) instability can be as long as the age of the solar system, owing to the strong temperature dependence of viscosity. Even in cases where the instability timescale is shorter, the instability is confined to a thin layer at the base of the crust, making the foundering of the entire crust improbable in many scenarios. This study delineates the onset and aftermath of the RT instability, applying a quantitative framework to assess the stability of (i) rock-contaminated crust on icy satellites, and (ii) silicate crust floating on top of a subsurface magma ocean on Io. Notably, for Io the RT instability peels off only 10–100 m from the crust’s base, and thermal diffusion rapidly recovers the crustal thickness through solidification of a magma ocean. Despite recurrent delamination of the crustal base, the initial crustal thickness is maintained by thermal diffusion, virtually stabilizing a floating dense crust. Cracking of the crust also is unlikely to result in the foundering of the crust. A dense crust on a small body is therefore difficult to be overturned, suggesting the potential ubiquity of dense surface layers throughout the solar system.