The finding may help better understand the red planet's interior structure and evolution, according to the US space agency.
However, scientists said that they cannot rule out the possibility of a different mineral composition or perhaps a thinner crust.
"The crust is the end-result of everything that happened during a planet's history, so a lower density could have important implications about Mars' formation and evolution," said Sander Goossens of NASA's Goddard Space Flight Center in Maryland, US.
Typically, Mars' crust has been considered at least as dense as Earth's oceanic crust, which is about 2,900 kilogrammes per cubic metre.
The new value is derived from Mars' gravity field, a global model that can be extracted from satellite tracking data using sophisticated mathematical tools.
The gravity field for Earth is extremely detailed, because the data sets have very high resolution.
Recent studies of the Moon by NASA's Gravity Recovery and Interior Laboratory, or GRAIL, mission also yielded a precise gravity map.
As a result, previous estimates relied more heavily on studies of the composition of Mars' soil and rocks.
"We are coming to the conclusion that it is not enough just to know the composition of the rocks," said Greg Neumann, co-author of the research paper published in the journal Geophysical Research Letters.
Before taking on Mars, the researchers tested their approach by applying it to the gravity field that was in use before the GRAIL mission.
From the new model, the team generated global maps of the crust's density and thickness. These maps show the kinds of variations the researchers expect, such as denser crust beneath Mars' giant volcanoes.
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