Precipitation refers to any form of water that falls from the atmosphere to the Earth's surface. This includes rain (liquid water), snow (frozen water in crystals), and hail (ice pellets). Condensation, however, is the process where water vapour in the air changes into liquid water droplets or ice crystals, which then form clouds. While condensation is essential for precipitation to occur, it is a process, not a form of precipitation itself. Therefore, option D is the correct answer.