Viewers will be able to search, browse and watch YouTube videos directly on their TV sets, but they must own a TiVo Series3 DVR that is broadband connected.
Users will also be able to log onto their YouTube accounts directly from their TiVo boxes.
Tara Maitra, vice-president and general manager of content services at TiVo, said: "TiVo's strategy is to bridge the gap between web video and television and make as much content available as possible for our subscribers.
"Being able to make available YouTube videos to the TiVo subscriber base using one device, one remote and one user interface is another major step in our commitment to combine all of your television and web video viewing options in one easy to use service."
The TiVo-YouTube service will be available in the US later this year.
Apple arranged a similar partnership with YouTube mid-last year, which allows Apple TV users to view a selection of films from the website.