Imaging the internal structure of volcanoes helps highlighting magma pathways and monitoring potential structural weaknesses. We jointly invert gravimetric and muographic data to determine the most precise image of the 3D density structure of the Puy de Dôme volcano (Chaîne des Puys, France) ever obtained. With rock thickness of up to 1,600 m along the muon lines of sight, it is, to our knowledge, the largest volcano ever imaged by combining muography and gravimetry. The inversion of gravimetric data is an ill-posed problem with a non-unique solution and a sensitivity rapidly decreasing with depth. Muography has the potential to constrain the absolute density of the studied structures but the use of the method is limited by the possible number of acquisition view points, by the long acquisition duration and by the noise contained in the data. To take advantage of both types of data in a joint inversion scheme, we develop a robust method adapted to the specificities of both the gravimetric and muographic data. Our method is based on a Bayesian formalism. It includes a smoothing relying on two regularization parameters (an a priori density standard deviation and an isotropic correlation length) which are automatically determined using a leave one out criterion. This smoothing overcomes artifacts linked to the data acquisition geometry of each dataset. A possible constant density offset between both datasets is also determined by least-squares. The potential of the method is shown using the Puy de Dôme volcano as case study as high quality gravimetric and muographic data are both available. Our results show that the dome is dry and permeable. Thanks to the muographic data, we better delineate a trachytic dense core surrounded by a less dense talus.