This article consists of three sections. The first discusses how we determine satellite internal structures and what we know about them. The primary probes of internal structure are measurements of magnetic induction, gravity, and topography, as well as rotation state and orientation. Enceladus, Europa, Ganymede, Callisto, Titan, and (perhaps) Pluto all have subsurface oceans; Callisto and Titan may be only incompletely differentiated. The second section describes dynamical processes that affect satellite interiors and surfaces: tidal and radioactive heating, flexure and relaxation, convection, cryovolcanism, true polar wander, non-synchronous rotation, orbital evolution, and impacts. The final section discusses how the satellites formed and evolved. Ancient tidal heating episodes and subsequent refreezing of a subsurface ocean are the likeliest explanation for the deformation observed at Ganymede, Tethys, Dione, Rhea, Miranda, Ariel, and Titania. The high heat output of Enceladus is a consequence of Saturn’s highly dissipative interior, but the dissipation rate is strongly frequency-dependent and does not necessarily imply that Saturn’s moons are young. Major remaining questions include the origins of Titan’s atmosphere and high eccentricity, the regular density progression in the Galilean satellites, and the orbital evolution of the Saturnian and Uranian moons.