This thread (
http://forums.studentdoctor.net/threads/speed-of-sound.1022916/) had a good explanation:
Speed of sound depends on two properties of the medium. The
inertial properties ("heaviness", or density of the particles of the medium) and
elastic properties (stiffness, or how fast the particles snap back to their original positions).
A stiffer medium will have its molecules bounce around much more quickly because they want to snap back to position right away, transmitting the sound wave faster through it. See
thisanimation.
A "lighter" medium will also have its particles bouncing more quickly to transmit the sound wave. Think of making a wave with a length of hose vs a cotton string. It's much easier to get a wave going in a lighter material, which is less resistant to changing its motion.
Gases are less elastic vs solids and liquids because the molecules are so far apart, so they transmit waves more slowly compared to solids and liquids.
However, if you compare gases to other gases, some transmit sound more quickly than others. This is due to the inertial property that affects sound transmission. The "lighter" (less dense) gas particles will bounce around more easily, transmitting the sound wave faster.