Igneous rock is formed through the cooling and solidification of magma or lava. Igneous rock may form with or without crystallization, either below the surface as intrusive (plutonic) rocks or on the surface as extrusive (volcanic) rocks.This magma can be derived from partial melts of pre-existing rocks in either a planet's mantle or crust.ntrusive igneous rocks are formed from magma that cools and solidifies within the crust of a planet, surrounded by pre-existing rock (called country rock); the magma cools slowly and, as a result, these rocks are coarse grained. The mineral grains in such rocks can generally be identified with the naked eye.