Impact from 3.8 billion years ago when large asteroid impacts were still common. 3D map of Mars
For big impacts on the Earth, see Impact of 23-mile-wide asteroid boiled Earth's oceans 3.26 billion years ago (and another link, and scientific paper)
The Aitken basin at the lunar South pole. It's believed to be over 3.8 billion years but the exact date is hard to pin down. Impact of an asteroid perhaps 170 km in diameter.
The Caloris basin on Mercury.