Of course it would not be the same as on Earth. First we have the different speed of sound that exists on each planet; a speed that depends both on the composition of the atmosphere and the temperature at which it is found.
We all know that on our planet, under normal conditions, sound travels at about 340 meters per second . This means that a lightning strike that hits the ground 10 kilometers from us is heard 29 seconds later. On the Martian surface it would take 44 seconds to hear it, because there the sound propagates 30% slower. On Venus, whose atmosphere is much denser, the sound of thunder would be heard 24 seconds after seeing the lightning. Of course, speed, what is called speed, we have it in Jupiter and Saturn. There the thunder would be heard 12 and 13 seconds later respectively.
If we wanted to talk on Mars, as long as we could breathe in its light and lethal atmosphere composed essentially of carbon dioxide, we would have it quite complicated. Even the loudest scream that could come out of our lungs would be reduced to a whisper due to the low density of its atmosphere. In fact, our voice would sound like we were suffering from laryngitis. Of course, the sounds would not seem as different to us as on Earth and we could recognize a large number of them. The situation on Venus would be totally different. With an atmospheric pressure 90 times higher than that of the Earth -similar to that found a kilometer below the sea surface-, the little sound that there is in our neighborhood library would be heard as if two people were talking in the street, which in turn would sound like background noise in a normal business. Earplug sellers would line up on Venus.
