The problem with using nuclear fission reactors as means of power to propel spacecraft is twofold: our own aversion to anything nuclear due to environmental hazards and the problem of reaction mass still persisting, regardless of your energy source longevity and power density per its own mass. Let's explain these points a bit more.
The reaction mass problem comes from the fact that there isn't anything to propel against in the vacuum of space, unless you bring along some reaction mass that could be expelled at high velocities and result in thrust, a kinetic momentum transfer of thrust equaling mass flow rate of exhaust by exhaust velocity:
$$T = {dm \over{dt}}*v$$
So while your nuclear reactor might be perfectly capable of having great energy density per its mass, you'd still have to have some consumable mass on you that you can energize and increase this mass excitation state to either greatly reduce its density (superheating, chemical reaction, e.t.c.), or otherwise be able to accelerate it in the opposite direction to your vector of travel (e.g. ion thrusters, direct hot nuclear fission products, e.t.c.), and later expel it at you rocket engine's nozzle, resulting in acceleration of your spacecraft in the opposite direction.
Some proposed nuclear powered rockets would thus either carry onboard reaction mass that is a rocket engine consumable, or alternatively use nuclear fuel byproducts as their reaction mass in a bit more direct nuclear propulsion system, like for example the fission-fragment rocket. The latter however achieve theoretically low specific impulse per time, even if they might operate for a long time (high overall specific impulse $I_{sp}$ over its total lifespan). Similar goes for ion thrusters that could also be nuclear powered of course, and indeed their electrical power requirements are usually provided by an onboard RTG (Radioisotope Thermoelectric Generator), although it may also be by solar panels, depending on mission parameters like proximity to the Sun, its duration, and so on.
Another problem with using direct-nuclear power propulsion is designing for these reactors' heat producing characteristics. Direct heat exchange with another mass surrounding the spacecraft simply isn't possible in the vacuum of space with not nearly high enough particle density even in hard vacuum of inner Solar system. So enormous heat radiators would be needed to cool down liquids responsible for cooling down the fission reactor's core and dissipate heat through radiation alone. That would require tremendous mass to be first lifted to outer space, for any spacecraft to use fission-fragment rocket engines (FFRE).
HOPE spacecraft is a NASA concept fission-fragment rocket engine (FFRE) powered vehicle (Source: NASA)
Power density of nuclear power generators is thus, as explained, not really the only factor in the rocket propulsion equation, and the simplicity of chemical reaction powered rocket stages using highly reactive component propellants is still by far the prefered method of achieving thrust. Since this problem of reaction mass either persists and you still have to carry it with you, or the resulting specific impulse of direct-nuclear engines isn't high enough for most space exploration applications, and nuclear generators come with their own non-negligible mass, the chemical rocket is still prefered, especially when used for Earth based rocket launches that come with an additional risks if nuclear powered engines were used instead.
Another factor already mentioned are of course environmental concerns. Several modes of propulsion using nuclear powered engines were already proposed to achieve lift as well, not merely thrust big enough to have in-space application but also achieve lifting capability (thrust big enough per launcher mass to achieve in-atmosphere and in-gravity escape velocity), however they were all much opposed to and never saw the light of day, actually materializing beyond laboratory experiments, theoretical calculations, or perhaps some top secret military experiments. A few of such experiments were done that are know to public, for example the Space Nuclear Propulsion Office (SNPO) project, a joint program of the U.S. Atomic Energy Commission and NASA, called NERVA (Nuclear Engine for Rocket Vehicle Application):
1 December 1967: The first ground experimental nuclear rocket engine (XE) assembly, is shown here in "cold flow" configuration,
as it makes a late evening arrival at Engine Test Stand No. 1 at the Nuclear Rocket Development Station, in Jackass Flats, Nevada.
(Source: Wikipedia on Nuclear thermal rocket)
So TL;DR - The problem of reaction mass over the total mass of the launcher still persists, and direct nuclear fission-fragment rocket engines don't achieve thrust required for reaching escape velocity. It also doesn't make environmentalists particularly happy.