and gravity that is approximately the same as Earth's, terminal velocity for an object descending towards Venus shouldn't be very high, especially if the lander has a parachute or ballute during the descent. It'd be interesting to see descent rate data from the Soviet Venus landers. According to the data linked to below, several of the Venera landers separated from their parachutes about 50 km above the surface and used simple aerobraking for the rest of the way to the surface.

Venus is a good approximation of Hell. It might be a good idea to not spend too much time during the descent so that the lander's limited lifetime could be spent collecting data from the surface. A small balloon with a camera and a radio package might be able to snap several pictures of the surface before the heat and pressure destroy it.

Venera 7

Venera 9 Descent Craft

Venera 10 Descent Craft

Venera 13 Descent Craft

Venera 14 Descent Craft