Fundamental properties of the planet Venus, such as its internal mass distribution and variations in length of day, have remained unknown. We used Earth-based observations of radar speckles tied to the rotation of Venus obtained in 2006-2020 to measure its spin axis orientation, spin precession rate, moment of inertia, and length-of-day variations. Venus is tilted by 2.6392 $\pm$ 0.0008 degrees ($1\sigma$) with respect to its orbital plane. The spin axis precesses at a rate of 44.58 $\pm$ 3.3 arcseconds per year ($1\sigma$), which gives a normalized moment of inertia of 0.337 $\pm$ 0.024 and yields a rough estimate of the size of the core. The average sidereal day on Venus in the 2006-2020 interval is 243.0226 $\pm$ 0.0013 Earth days ($1\sigma$). The spin period of the solid planet exhibits variations of 61 ppm ($\sim$20 minutes) with a possible diurnal or semidiurnal forcing. The length-of-day variations imply that changes in atmospheric angular momentum of at least $\sim$4% are transferred to the solid planet.