Christiaan Huygens discovered the first known moon of Saturn. The year was 1655 and the moon is Titan. Giovanni Domenico Cassini made the next four discoveries: Iapetus (1671), Rhea (1672), Dione (1684), and Tethys (1684). Mimas and Enceladus were both discovered by William Herschel in 1789. The next two discoveries came at intervals of 50 or more years - Hyperion (1848) and Phoebe (1898).

As telescopic resolving power increased through the 19th century, Saturn's family of known moons grew. In 1966 Epimetheus and Janus were discovered. By the time Cassini-Huygens was launched in 1997, Saturn's moon count had reached 18. The number of known moons soon increased with high-resolution imaging techniques used on ground-based telescopes. Cassini discovered four more moons after its arrival at Saturn and may find even more during its mission.

Each of Saturn's moons bears a unique story. Two of the moons orbit within gaps in the main rings. Some, such as Prometheus and Pandora, interact with ring material, shepherding the ring in its orbit. Some small moons are trapped in the same orbits as Tethys or Dione. Janus and Epimetheus occasionally pass close to each other, causing them to periodically exchange orbits.