Is there any planet that has atmosphere very close to earth ?

No planetary atmosphere we have actually been able to measure so far has turned out very much like that of the Earth. Many of them are dominated by hydrogen (in the case of the gas giants) or carbon dioxide (in the case of Venus and Mars). It turns out there is actually an atmosphere we have found with a higher proportion of molecular oxygen than that of the Earth, it is that of Europa, but it is also extremely thin. The Earth's atmosphere is actually dominated by nitrogen, so its closest ogue is actually probably that of Saturn's moon Titan, which has an even higher proportion of nitrogen than that of the Earth. However, Titan's atmosphere is somewhat thicker than that of the Earth and extremely cold.