So far, humans have taken photos from the surfaces of Earth, the Moon, Venus, and Mars. But I had no idea that a photo from the surface of Titan existed:
The photo of the Saturnian moon was taken in 2005 by the Huygens probe, which was designed to land safely on the moon's surface. From Wikipedia:
After landing, Huygens photographed a dark plain covered in small rocks and pebbles, which are composed of water ice. The two rocks just below the middle of the image on the right are smaller than they may appear: the left-hand one is 15 centimeters across, and the one in the center is 4 centimeters across, at a distance of about 85 centimeters from Huygens. There is evidence of erosion at the base of the rocks, indicating possible fluvial activity. The surface is darker than originally expected, consisting of a mixture of water and hydrocarbon ice. The assumption is that the "soil" visible in the images is precipitation from the hydrocarbon haze above.
And a special close-but-no-cigar award goes to the NEAR Shoemaker probe, which snapped this photo from about 400 feet above the surface of the near-Earth asteroid Eros:
The probe landed on the surface of Eros in February 2001 and transmitted usable data for about two weeks afterwards, none of which was photographic in nature.