While terms of the deal were not disclosed, the companies said that in the coming months TiVo and Yahoo would also offer Yahoo services like photos, traffic, and weather as part of their collaboration.
Shares of TiVo rose 6 percent on Nasdaq, but some analysts questioned whether the deal would drive subscriptions for TiVo, whose DVR service lets users pause live TV and save massive amounts of programming.
Cable and satellite companies are increasingly offering their own video recording services, leading to concerns about TiVo's growth prospects.
"I don't see how it's going to drive new incremental subscribers for TiVo. I don't see how it's going to drive incremental revenue for TiVo," said analyst April Horace of Hoefer & Arnett, who added that the deal still appeared "incrementally positive" for the company.
TiVo's latest results in August showed that additions to its fee-based TV recording service in the second quarter fell to 254,000 subscribers from 288,000 a year earlier.
Key to that drop was a 5 percent decline in new customers from DirecTV Inc, its biggest source of new customers, which has said it plans to cease marketing TiVo's product.
Starting Monday, users can log onto any computer and use the Yahoo site to set TiVo to record TV programs and events.
Subscribers with a TiVo Series2 box and a standard Yahoo ID may use the service, the companies said.