There are four spacecraft that have passed by Saturn so far. The first spacecraft is known as Pioneer 11. This was able to get to Saturn in a very close manner. It was able to provide a lot of details about Saturn as it was able to get close. A year later, another spacecraft was able to get close to the planet in the form of Voyager 1.
A year later again, Voyager 2 was able to pass by Saturn. Take note that these two spacecraft were assigned to check out other planets. Do remember that there are actually 9 spacecraft that were assigned to check out Saturn but not all of them were successful. Saturn is usually visited alongside Jupiter.