Context. On December 27, 2020, Solar Orbiter completed its first gravity assist manoeuvre of Venus (VGAM1). While this flyby was performed to provide the spacecraft with sufficient velocity to get closer to the Sun and observe its poles from progressively higher inclinations, the Radio and Plasma Wave (RPW) consortium, along with other operational in situ instruments, had the opportunity to perform high cadence measurements and study the plasma properties in the induced magnetosphere of Venus. Aims. In this paper, we review the main observations of the RPW instrument during VGAM1. They include the identification of a number of magnetospheric plasma wave modes, measurements of the electron number densities computed using the quasi-thermal noise spectroscopy technique and inferred from the probe-to-spacecraft potential, the observation of dust impact signatures, kinetic solitary structures, and localized structures at the bow shock, in addition to the validation of the wave normal analysis on-board from the Low Frequency Receiver. Methods. We used the data products provided by the different subsystems of RPW to study Venus' induced magnetosphere. Results. The results include the observations of various electromagnetic and electrostatic wave modes in the induced magnetosphere of Venus: strong emissions of similar to 100 Hz whistler waves are observed in addition to electrostatic ion acoustic waves, solitary structures and Langmuir waves in the magnetosheath of Venus. Moreover, based on the different levels of the wave amplitudes and the large-scale variations of the electron number densities, we could identify different regions and boundary layers at Venus. Conclusions. The RPW instrument provided unprecedented AC magnetic and electric field measurements in Venus' induced magnetosphere for continuous frequency ranges and with high time resolution. These data allow for the conclusive identification of various plasma waves at higher frequencies than previously observed and a detailed investigation regarding the structure of the induced magnetosphere of Venus. Furthermore, noting that prior studies were mainly focused on the magnetosheath region and could only reach 10-12 Venus radii (R-V) down the tail, the particular orbit geometry of Solar Orbiter's VGAM1, allowed the first investigation of the nature of the plasma waves continuously from the bow shock to the magnetosheath, extending to similar to 70R(V) in the far distant tail region.