The dynamics of Earth's mantle are not well known. Deciphering mantle flow patterns requires an understanding of the global distribution of mantle density. Seismic tomography has been used to derive mantle density distributions, but converting seismic velocities into densities is not straightforward. Here we show that data from the GOCE (Gravity field and steady-state Ocean Circulation Explorer) mission can be used to probe our planet's deep mass structure. We construct global anomaly maps of the Earth's gravitational gradients at satellite altitude and use a sensitivity analysis to show that these gravitational gradients image the geometry of mantle mass down to mid-mantle depths. Our maps highlight north-south-elongated gravity gradient anomalies over Asia and America that follow a belt of ancient subduction boundaries, as well as gravity gradient anomalies over the central Pacific Ocean and south of Africa that coincide with the locations of deep mantle plumes. We interpret these anomalies as sinking tectonic plates and convective instabilities between 1,000 and 2,500km depth, consistent with seismic tomography results. Along the former Tethyan Margin, our data also identify an east-west-oriented mass anomaly likely in the upper mantle. We suggest that by combining gravity gradients with seismic and geodynamic data, an integrated dynamic model for Earth can be achieved.