In June 2006 Venus Express crossed several times the outer boundary of Venus induced magnetosphere, its magnetosheath and its bow shock. During the same interval the Cluster spacecraft surveyed the dawn flank of the terrestrial magnetosphere, intersected the Earth's magnetopause and spent long time intervals in the magnetosheath. This configuration offers the opportunity to perform a joint investigation of the interface between Venus and Earth's outer plasma layers and the shocked solar wind. We discuss the kinetic structure of the magnetopause of both planets, its global characteristics and the effects on the interaction between the planetary plasma and the solar wind. A Vlasov equilibrium model is constructed for both planetary magnetopauses and provides good estimates of the magnetic field profile across the interface. The model is also in agreement with plasma data and evidence the role of planetary and solar wind ions on the spatial scale of the equilibrium magnetopause of the two planets. The main characteristics of the two magnetopauses are discussed and compared.