One of the three states of water, besides damp and solid, is the liquid form. When falling as drops out of a cloud is is referred as "rain" or the smaller sized "drizzle". The diameter and concentration of raindrops vary considerably according to the intensity of the precipitation and especially according its nature (continuous; shower, storm, etc). It's size is usually larger than 0,5 mm in diameter. A special form of rain in the so called "supercooled rain", it is rain with a temperature below 0°C. 

The picture shows dozens of raindrops blasted against the window on a stormy day, with in the back, a dark Nimbostratus sky.