Neutrino oscillation was discovered through studies of neutrinos produced by cosmic-ray interactions in the atmosphere. These neutrinos are called atmospheric neutrinos. They are produced as decay products in hadronic showers resulting from collisions of cosmic rays with nuclei in the atmosphere. Electron-neutrinos and muon-neutrinos are produced mainly by the decay chain of charged pions to muons to electrons. Atmospheric neutrino experiments observed zenith-angle and energy dependent deficit of muon-neutrino events. Neutrino oscillations between muon-neutrinos and tau-neutrinos explain these data well. Neutrino oscillations imply that neutrinos have small but non-zero masses. The small neutrino masses have profound implications to our understanding of elementary particle physics and the Universe. This article discusses the experimental discovery of neutrino oscillations.