The six Darton College pupils were chosen to appear after visiting Yorkshire Sculpture Park, West Bretton, to look at the Joan Miro sculpture exhibition.
Teacher Jayne Kaye said the opportunity came about when Blue Peter producers contacted YSP looking for local children to work with an artist to build sculpture of the show's mascot ship.
"We had been down to the park to look at the Miro exhibition so staff at YSP recommended us. We put names in a hat and this lucky lot had theirs pulled out," she said.
Kiain Kirk, Peter Morris, Emily Drummond, George Waine, all 11, of Mapplewell, joined pals Charlotte Sida, 12, of Honeywell, and Niamh Evans, 12, of Darton, said they would remember it 'forever' and were given coveted Blue Peter badges.
They spent the day using recycled materials to create the ship, inspired by the Miro sculptures, but the highlight was meeting the show's presenter Helen Skelton.
Niamh said: "I have been watching Blue Peter for ages and I love Helen so it was brilliant to meet her.
"She was really friendly and acted as if we were all friends. It was a bit surreal because I'm used to seeing her on TV, not stood next to me."
Friend Emily agreed and said it was great to meet the presenter. She added: "It was a good day and was fun. I was a bit nervous at the start of filming but then you just forget the camera is there."
The pupils appear on Blue Peter on the CBBC channel on October 4 at 5.45pm.