After an announcement earlier in the year, the corporation's video on-demand service, iPlayer, went live at 9am on Tuesday (October 30) to the around 6.7 million homes with a Sky+ HD box and a broadband connection.
These satellite homes can access iPlayer directly from Sky's new On Demand part of the TV guide, enabling them to catch up on shows such as Doctor Who, Strictly Come Dancing and EastEnders.
Sky already offers the standalone ITV Player and Demand 5 services to Sky+ homes, and will add Channel 4's 4oD in early 2013, at which stage Sky will be able to offer all the on-demand services of the UK public service broadcasters.
Previously, Sky+ users had to proactively set recordings of PSB shows on their box if they were going out, or they would miss the programme entirely.
Alongside PSB catch up, Sky's new On Demand section also offers catch-up on Sky and partner channels, as well as box sets, such as Mad Men and An Idiot Abroad, and movie rentals from the Sky Store.
BBC iPlayer has been integrated into Sky's existing TV guide and on-demand menus. Viewers are able to browse programming under a series of categories, including channel, day and genre. They can watch content in both standard and high definition where available.
Once a customer selects a programme, it is downloaded directly to their Sky+ planner ready to be watched at a time that suits them.
The launch of BBC iPlayer on Sky - which seemed unlikely to happen at one stage - is the latest expansion of the BBC's catch up TV service, which is now available on more than 650 different platforms.
Last month, iPlayer racked up almost 200m requests for programming, including a massive 2.2m for a new episode of Doctor Who.
By launching on Sky+, the five-year-old BBC iPlayer platform is now available on every major UK television platform for free.
Daniel Danker, the general manager of BBC Programmes and On Demand, said; "BBC iPlayer has had a record-breaking year, with 2 billion requests for programmes in 2011, and nearly 200 million requests in September 2012 alone.
"Available on over 650 platforms and devices across PC, mobile, tablet and internet-connected TVs, we are delighted that iPlayer is now also available to millions of Sky+ homes. 20% of all iPlayer use is already on the living room TV.
"By partnering with Sky, BBC iPlayer is available on all major UK TV platforms at no extra charge, making sure our audiences can access the best of the BBC's content at home and on the go, whenever and wherever they choose."
Sky's director of TV products Luke Bradley-Jones added: "Providing customers with the flexibility to enjoy their favourite TV on demand, our comprehensive catch-up TV service perfectly complements the genius of Sky+, which already helps millions of our customers take charge of their viewing.
"We continue to put Sky customers in control, with the addition of BBC iPlayer to Sky+ sitting alongside a range of innovations including remote record, series link and now even being able to use your iPad as a remote control."
To enjoy Catch-Up TV, Sky+ customers must activate their On Demand service and connect their box to a broadband router.