Most of the planets of the Solar System were known in the antiquity. Which one was the first discovered in modern times with a telescope?

Like the classical planets, Uranus is visible to the naked eye, but it was never recognised as a planet by ancient observers because of its dimness and slow orbit. Sir William Herschel announced its discovery on 13 March 1781, expanding the known boundaries of the Solar System for the first time in history and making Uranus the first planet discovered with a telescope.