The hackers took control of the site on Sunday afternoon and posted pornographic content to replace the site's usual child-friendly videos.
The hacking spree lasted for 20 minutes before Sesame Street caught on and shut down the site.
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Before the content was removed, a message appeared on the page which named two YouTube users as the perpetrators.
However, one user denied involvement in a statement posted on his webpage.
"Between this and the Bert & Ernie coming-out petitions, it seems everyone wants 'The Street' to teach sex ed," a Sesame Street contact told The Huffington Post.
Sesame Workshop officials issued a statement in response to the hacking scandal, apologising for the incident.
"Our channel was compromised and we are presently working with YouTube/Google to restore our original content. We always strive to provide age-appropriate content for our viewers and hope to resolve this problem quickly."
The site has since been restored.
