From Wikipedia:

A volcano is a rupture in the crust of a planetary-mass object, such as Earth, that allows hot lava, volcanic ash, and gases to escape from a magma chamber below the surface. The process that forms volcanoes is called volcanism.

On Earth, volcanoes are most often found where tectonic plates are diverging or converging, and because most of Earth's plate boundaries are underwater, most volcanoes are found underwater. For example, a mid-ocean ridge, such as the Mid-Atlantic Ridge, has volcanoes caused by divergent tectonic plates whereas the Pacific Ring of Fire has volcanoes caused by convergent tectonic plates.