They are, though mountains and oceans give them texture. A planet’s gravitational pull acts to pull everything towards the center. Smaller objects like asteroids do not have a strong enough gravitational pull to make them spherical.
They are not completely spherical. in fact they are a bit elliptical with an increase diameter around the axis of rotation. The planets spin which causes them to bulge out a little around the equator. This is caused by forces that result from rotation counteracting gravity. However the bigger the planet the more spherical it will be because it will have a greater gravitational force pulling toward the center. Additionally, the faster the planet rotates about its axis the more oblong it will tend to be.
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