(Moon crater Dedal as photographed by the crew of Apollo 11)
Four billion years ago the Earth, the Moon, and every other Solar System object were heavily shot by impact comets and asteroids. You can see craters on rocky planets, on most moons and asteroids. Large craters usually have several rings around, intermediate have a central peak, and small craters are bowl-shaped.
The theory of impact crater formation must be very complex, searching the web I haven't found any simple (or simplified) explanation to reproduce here. In a lack of an easy theory, however you can conduct experiments, see the video below.
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