Let Ω be a domain of R n with n ≥ 2 and denote by W s, p (Ω) the fractional Sobolev space for s ∈ (0, 1) and p ∈ (0, ∞). We prove that the following are equivalent: (i) there exists a constant C 1 > 0 such that for all x ∈ Ω and r ∈ (0, 1], |B(x, r) ∩ Ω| ≥ C 1 r n ; (ii) Ω is a W s, p-extension domain for all s ∈ (0, 1) and all p ∈ (0, ∞); (iii) Ω is a W s, p-extension domain for some s ∈ (0, 1) and some p ∈ (0, ∞); (iv) Ω is a W s, p-imbedding domain for all s ∈ (0, 1) and all p ∈ (0, ∞); (v) Ω is a W s, p-imbedding domain for some s ∈ (0, 1) and some p ∈ (0, ∞).