A water planet.
Water has a much lower density than any rock you could make a planet out of and is nearly incompressible. However, some funny stuff happens when you try to make an entire planet out of it. For the sake of easy calculation, my planet is going to be a balmy 350K, at least for now.
What we're going to do is run through a range of pressures, and water changes forms as that happens. Take a look at the phase diagram of water as I talk you through it. (From this very helpful website)

We're staying on the 350K line for now and moving vertically upward as we travel toward the center of the planet. We start at around 100 kPa at the surface, convert to ice VII at ~2 GPa, and convert to ice X at ~50 GPa, where we stay all the way to the core, which should be around 500 GPa.
Respective densities: liquid water, at 1g/cm$^3$; ice VII, at 1.5g/cm$^3$; and ice X, at 2.5g/cm$^3$.
However, these densities also increase with depth according to the bulk modulus equation.
$$B = \frac{\Delta P}{\Delta V / V}$$
From this website and this article (paywall, sorry), I managed to find the bulk modulus ($B$) of water and ice VII. I couldn't find one for ice X, so I'll assume it's similar to ice VII.
Liquid water has a bulk modulus of 2.2 GPa and it takes 200km of water to reach 2GPa, according to the classic conversion 101kPa/10m. Thus, we can solve for final density with this equation:
$$\rho_f = \frac{(\Delta P + B)*\rho_i}{B}$$
where $\rho_f$ is final density, $\Delta P$ is the change in pressure, and $\rho_i$ is the initial density of water (1g/cm$^3$). This gives us a water density at the bottom of our ocean of 1.9g/cm$^3$. For the rest of the math, I'll use the average value of 1.5g/cm$^3$.
The same equation can be used for the ices, but it's already been done by this graph, made by people (paywall, sorry) far more qualified than I: 
As you can see, the density of ice VII starts at something like 1.5g/cm$^3$ at 2GPa and is projected to increase to something like 3g/cm$^3$ (7cm$^3$/mol) around 500GPa (which would be our core). I'll use an average density of 2.3g/cm$^3$ for the rest of the math.
So, we now have a planet with 200km deep global surface oceans and a thick core of dense ice. Let's get an actual radius for this thing. Our equation in this case will be something like
$$g = \frac{G*M_{planet}}{r^2} = \frac{G*(V_{core}*\rho_{core}+V_{ocean}*\rho_{ocean})}{r^2}$$
Substituting and solving gives us a radius of
15,000 kilometers
Whew. Of course, I handwaved a lot in there, with my biggest one being the assumption of constant temperature. To account for that, the vertical line we used on the water phase diagram would curve to the right as we increase the pressure. This means we wouldn't pass through the transitions as quickly, which would actually increase our radius, not decrease it, because we'd have more of the lighter stuff (water and ice VII). Additionally, being forced to average out the densities with respect to depth annoyed me, but I didn't want to work with nasty differential equations.
If the "solid surface" requirement truly means solid, we've also got an easy solution- freeze it! Instead of a temperature like 400K, a planet near 200 or 100K would have a frozen surface and similar radius- remember that ice 1h (normal ice) actually has a lower density than water.
As far as creating such a planet goes, I wouldn't be surprised if we found one in the universe somewhere. There's a lot of water around, and one hypothesis for Earth's water is comets. Smash a bunch of comets together and you've got a water planet. As other answers have pointed out, this is implausible, but not impossible. There would likely be a solid core of some other substance and would raise a few scientific eyebrows if it was made of pure water.
Other options
Other answers have pointed out some good ideas, but I still think that water is the ideal material. Substances like liquid hydrogen or organic molecules (hexane, for example) do indeed have lower densities but they have MUCH higher bulk moduli, which was really the deciding factor in this whole equation. See below for a similar graph from here (again, paywall)- and note the difference in axes, where $H$ has a much more dramatic change with pressure. I wasn't able to find a similar one for hexane, but it'd be between the two based on its bulk modulus alone (paywall. sad.).
