The inner planets (i.e. the terrestrial planets) which have polar caps are

Polar ice cap or polar cap is a high-latitude region of a planet, dwarf planet, or natural satellite that is covered in ice
The composition of the ice will vary. For example, Earth's polar caps are mainly water ice, whereas Mars's polar ice caps are a mixture of solid carbon dioxide and water ice.

Polar ice caps form because high-latitude regions receive less energy in the form of solar radiation from the Sun than equatorial regions, resulting in lower surface temperatures.

What are Terrestrial planets ?

Terrestrial planets are Earth-like planets made up of rocks or metals with a hard surface.
Terrestrial planets also have a molten heavy-metal core, few moons and topological features such as valleys, volcanoes and craters.
In our solar system, there are four terrestrial planets, which also happen to be the four closest to the sun: Mercury, Venus, Earth and Mars.

Which inner planet has polar ice caps?

Of all the planets in the solar system, only the four inner ones, along with Pluto (which was demoted to dwarf planet status in 2006) are solid.
Of these, only Earth, Mars and Pluto have permanent polar ice caps. However, all the planets exhibit anomalies at their poles.

Finally, we can state that the polar caps of the inner planets, are present in Mars and Earth.

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