Sorry for the late reply, but I felt that the existing answers are really unsatisfactory, or outright wrong, and that a better answer is needed.
In particular, the papers and books that assert unequivocally that the density must be lower right at the surface is in direct variance with theoretical expectations and computer simulations (links below). Instead, the short and downvoted answer by Proffessor Chaos[sic] is closer to the truth, as I will be explaining in this answer. Sadly, I was not able to find direct experimental observation of this, which is not too surprising, given how difficult it would be to measure this.
The first problem starts with the picture that is inside the OP. I am not disagreeing with the fact that the potential between two atoms is closer to the picture inside Debanjan Biswas's answer, that is made of Coulomb-fermion repulsion when too close, and some attraction farther away. This means that, yes, the forces on each atom would be sometimes attractive, and sometimes repulsive. However, such a Zen-like picture, neither here nor there, is not of any use in the theoretical understanding of the situation. We should, instead, take the time average (and space average) of these rapid fluctuations, and define the averaged forces that is observed by each atom, the thing that is constant, and thus much more amenable to theoretical analysis.
In this way, each atomic bond can only either pull or push, you should not be having both. Then we apply Newtonian mechanics analysis on the system. If, at the surface, there is a net force inwards or outwards, then there is no hope for mechanical stability. We must thus never draw a force with any inwards or outwards component at the surface, only along the surface. This is already a huge problem for the picture in the OP.
Now, we want to know if the atoms deep in the bulk are pulled or pushed. After all, symmetrically pulling apart or pushing together, the atom can be balanced. So, are the materials holding together usually pulling at each other, or pushing?
Here, we need to note that air pressure is very small. We can essentially consider the solid-air or liquid-air boundary to be close to a solid-vacuum or liquid-vacuum boundary. If the atoms deep in the bulk are pushing each other apart, then the lack of pressure due to the vacuum boundary should be met with continued expansion of the solid / liquid. As such, we deduce that in a usual solid / liquid, the interatomic forces are usually pulling, as expected of the concept of condensation. Hence, condensed matter. i.e. we are usually operating in the attractive region of the picture in Debanjan Biswas's answer.
This is also the case at the surface. The atoms at the surface, as I have reasoned, should not be having inward or outwards forces, only along the surface. Here, they should be pulling at each other, hence tension, rather than pushing at each other. This is also expected, since if you tried to push stuff into each other parallel to the surface, then the expected behaviour should be that of buckling/bending.
What does this all mean? It means that we should be expecting that the outermost surface atoms to be somewhat displaced inwards into the bulk than is the usual bulk distances, i.e. higher density at the surface. This is because the surface atoms do not have atoms outside the solid to pull them outwards, and so they settle a little closer than usual, achieving a new equilibrium position, where, on the average, there is no more pulling inwards.
Why, then, are people saying the opposite? Well, of course they would, if they conflate the multiple-unit-cell-averaging needed to talk about the density, with the only-one-unit-cell-averaging. The averaging cell near the surface will be half outside the solid / liquid, and thus only half the density in the bulk, and that effect is going to be so dominant, that you will only see a dip in the density plots, not a tiny peak that the tiny displacements would have shown.
In practice, this is particularly horrible to study, both experimentally and theoretically. This is because most surfaces would have to undergo surface reconstruction, and then you cannot directly compare the surface from the bulk.
This is why we have to cherish the cases whereby things are simple, and then we can see this theoretical prediction in action. Here is a simulation of three surfaces of Iron, and you can see that for all 3 types of surfaces, the first layer moves into the bulk. The 2nd and 3rd layers might move into or out of the bulk, making the determination of the density even more a headache to compute and measure, but the theoretical prediction is verified.
In Fig.2 of this arXiv paper, you can also see that there are some vague spikes in density right before the densities plummet, showing that there is some slight increase in density at the surfaces. It is clearly not easy to compute things tight enough to even observe these effects at all. Fig.2 of this paper is also barely able to see the slight increase in density right before the dip (slightly more pronounced at the right edge than the left), but is more relevant to you if you are interested in surface tension.
So, again, the expectation should be that the surface should be slightly denser, but this is strongly tempered by the phenomenon of surface reconstructions. Sadly, life is just not that easy.