Heavily cratered terrains dominate the surfaces of asteroid 4 Vesta and dwarf planet 1 Ceres. The data from the Dawn spacecraft allowed reconstruction of high‐resolution shape models of these bodies. We used the stereophotoclinometric shape models to compute gravitational slopes and topographic roughness of Vesta and Ceres. We compute the slope distributions of Vesta and Ceres and compare them to those of the other bodies with heavily cratered terrains. The distribution of slopes of Vesta and Ceres has a kink at ≈34°. The slope distribution is steeper for slopes higher than ≈34°. The Moon and Mars have a similar kink but at a lower (shallower) slope (≈29°–30°). We hypothesize that this kink corresponds to the angle of repose, which is higher on the two minor bodies compared to that of Mars and the Moon. We have also analyzed the topographic roughness of Vesta and Ceres. Vesta's topography is characterized by lower roughness in the southern hemisphere that was resurfaced by giant impacts. The roughness of Ceres is mostly controlled by regional‐scale geology with no significant large‐scale variations. Large, fresh craters have smooth ejecta blankets on both Vesta and Ceres unlike previously observed rough ejecta on the Moon, Mars, and Mercury. On Ceres, the smooth ejecta craters also have smooth floors explained by impact slurry. Lineaments of elevated roughness are abundant on Ceres, whereas are nearly absent on Vesta. The roughness maps we produced provide a synoptic view of the surface texture and could be used to aid geologic mapping.