Cassini just went by Enceladus, the little icy moon of Saturn with water volcanoes, getting down to just 50 km from the surface. It got pictures of the south polar regions in hopes of getting a close look at those tiger stripes that vent out water ice particles. These pictures have plenty of shadows, making it easy to see surface relief.
Cassini "Skeet Shoot" of Enceladus a Success | Universe Today
SPACE.com -- Cassini Spacecraft Revisits Icy Saturn Moon
Cassini-Huygens: News-Features-Enceladus Flyby
Preflyby discussion of what the instruments did
Enceladus August Flyby Preview
They are going to do two more in October that could be even closer.