The first probe to reach Saturn was Pioneer 11 on 1st September 1979 as it passed at 21,000 km.
The next to arrive was Voyager 1 in November 1980 followed in August 1981 by Voyager 2.
These flyby missions were followed by the arrival, in July 2004 of Cassini, which went into orbit making a detailed study of the planet and it’s moons.
It was carrying the Huygens probe which landed on the moon Titan on 14 January 2005 sending back pictures of the surface and other data. This is the only moon with a dense atmosphere and is felt by some to be a potential Earth when the sun expands into a red giant.