In a landmark episode, called Families, Penny Polar Bear tells Peppa about her same-sex parents.
The moment comes in a scene where Peppa, along with Suzy Sheep and Danny Dog, are drawing pictures of their families.
Their classmate Penny then sketches out two female polar bears wearing dresses.
She turns to Peppa and says: "I’m Penny Polar Bear.
Peppa Pig's landmark episode, called Families, aired on Tuesday
Peppa Pig
“I live with my mummy and my other mummy.
“One mummy is a doctor and one mummy cooks spaghetti. I love spaghetti.”
The episode aired on Channel 5 on Tuesday evening.
It has been praised by Robbie de Santos, from LGBT charity Stonewall.
He told The Sun: "It's fantastic that same-sex families are making an appearance in Peppatown.
"Many of those who watch the show will have two mums or two dads themselves and it will mean a lot that their experiences are being represented on such an iconic children's programme."
It comes after a petition called for the show to feature a same-sex couple.
Campaigners claim that excluding same-sex families could alienate some children.
Peppa Pig is one of the country's best-loved children's TV shows
Peppa Pig
