Venus has intrigued planetary scientists for decades because of its huge contrasts to Earth, in spite of its nickname of "Earth's Twin". Its invisible upper atmosphere and space environment are also part of the larger story of Venus and its evolution. In 60s to 70s, several missions (Venera and Mariner series) explored Venus-solar wind interaction regions. They identified the basic structure of the near-Venus space environment, for example, existence of the bow shock, magnetotail, ionosphere, as well as the lack of the intrinsic magnetic field. A huge leap in knowledge about the solar wind interaction with Venus was made possible by the 14-year long mission, Pioneer Venus Orbiter (PVO), launched in 1978. More recently, ESA's probe, Venus Express (VEX), was inserted into orbit in 2006, operated for 8 years.Owing to its different orbit from that of PVO, VEX made unique measurements in the polar and terminator regions, and probed the near-Venus tail for the first time. The near-tail hosts dynamic processes that lead to plasma energization. These processes in turn lead to the loss of ionospheric ions to space, slowly eroding the Venusian atmosphere. VEX carried an ion spectrometer with a moderate mass-separation capability and the observed ratio of the escaping hydrogen and oxygen ions in the wake indicates the stoichiometric loss of water from Venus. The structure and dynamics of the induced magnetosphere depends on the prevailing solar wind conditions. VEX studied the response of the magnetospheric system on different time scales. A plethora of waves was identified by the magnetometer on VEX; some of them were not previously observed by PVO. Proton cyclotron waves were seen far upstream of the bow shock, mirror mode waves were observed in magnetosheath and whistler mode waves, possibly generated by lightning discharges were frequently seen. VEX also encouraged renewed numerical modeling efforts, including fluid-type of models and particle-fluid hybrid type of models, describing the plasma interaction on scales ranging from ion gyro radius to the entire induced magnetosphere. In this review article, we review what has been found from space physics measurements around Venus (from the solar wind down to the ionopause), with a particular emphasis on updated results since the Venus Express mission. We conclude the article by a short discussion on the remaining open scientific questions and the future of this field.