The new app, called 4oD Catch Up, became available yesterday on Apple's popular device, enabling users to access 30 days of Channel 4's broadcast content.
The free app will be supported by advertising, including a 60-second ad from sponsor Heineken before requested shows, followed by a 30-second spot from a different company.
Users can watch shows such as Friday Night Dinner, Jamie's Dream School and The Hotel on their iPads over WiFi connections. US and archived content is not currently available, but Channel 4 plans to introduce the programming at a later date.
Channel 4 also said that the app - created by the Nice Agency - will initially be for iPads only, but could be expanded to other Apple devices "in due course".
Sarah Milton, head of video on-demand at Channel 4, said: "Channel 4 has consistently led the way in on-demand viewing, and the launch of 4oD Catch Up on the iPad reflects our long-term strategy of building distribution on relevant platforms and devices to ensure 4oD is available where our audiences want to watch it."
Channel 4 was the first broadcaster to launch a comprehensive video on-demand service in 2006 with 4oD, but the broadcaster has lagged behind in getting onto the iPad.
Sky launched its Sky Mobile TV service on the iPad more than a year ago, while the BBC brought catch-up service BBC iPlayer to the platform in February. ITV is expected to bring ITV Player to mobile and tablet devices later this year.