The Juno satellite, which left Earth five years ago, had to fire a rocket engine to slow its approach to the planet and get caught by its gravity.
A sequence of tones transmitted from the spacecraft confirmed the braking manoeuvre had gone as planned.
Receipt of the radio messages prompted wild cheering at Nasa's mission control in Pasadena, California.
"All stations on Juno co-ord, we have the tone for burn cut-off on Delta B," Juno Mission Control had announced. "Roger Juno, welcome to Jupiter."