As already commented by Fred, Venus is your best bet. Not at surface level – both temperature and pressure are way too high there – but at ca. 50 km elevation, where both are actually quite similar to Earth at sea-level.
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(From Wikipedia)
Of course, the sulfuric acid would start eating on you, but the concentration isn't that high, so you would certainly survive for a while. Keep your eyes shut and don't breathe in – you would only get CO₂ anyway, which would of course quickly suffocate you. But people can survive some minutes of holding their breath, so that's ok.
None of the other inner planets or their moons have nearly enough of an atmosphere. The body can tolerate vacuum much worse than oxygen-less atmosphere. Further out, namely Jupiter, Saturn and Titan, you do find atmospheres where you could have enough pressure, but only at very cold temperature. I suppose you might survive some minutes on Titan in Antarctic-grade clothing, but hardly in street clothing.