Postmen and women will pick up parcels from the doorsteps of people's homes across the UK, as the company tries to grab a bigger share of the booming parcel market.
Households that have packages they need to send can now do so without leaving home for a 72p charge per parcel, Royal Mail said.
The parcels can weigh up to 20kg and can be a little over twice the size of most airplane hand luggage (61cm by 46cm by 46cm).
It was hailed by the postal service as "one of the biggest changes to the daily delivery since the launch of the post box in 1852".
The company has been testing its system in the west of England, but will now roll it out nationwide, it said on Wednesday.
"Royal Mail Parcel Collect is a fantastic step forward for all of our customers. It makes it easier to use our services than ever before," said Royal Mail chief commercial officer Nick Landon.
Pictures of the week: October 18 - 24
Pictures of the week: October 18 - 24
A lantern seen at an installation in London's Chinatown ahead of the global debut of the new computer-animated musical adventure film Netflix film 'Over The Moon' (Photo by Dave Rushen / SOPA Images/Sipa USA)
A Sotheby's employee displays a Mughal gem set ivory horse head-hilted dagger, top and an Ottoman steel bladed ivory hilted dagger during a photo call ahead of the auction house's Islamic World, Legendary Timepieces and Middle Eastern Art sales, in London, Friday, Oct. 23, 2020. (Jonathan Brady/PA via AP)
People queue outside a bar in central Manchester, England, Thursday Oct. 22, 2020, as strict coronavirus restrictions on England's second-largest urban area, Greater Manchester, will start at midnight. (AP Photo/Jon Super)
Boris Becker leaves Southwark Crown Court in London, Thursday, Oct. 22, 2020. German tennis star Boris Becker is charged with 19 offences of failing to disclose money and property as part of bankruptcy proceedings. (AP Photo/Frank Augstein)
Cars at the border crossing between Northern Ireland and the Republic of Ireland, as gardai conduct checks asking people the reason for their journey. (Photo by Brian Lawless/PA Images via Getty Images)
A member of the back stage staff wears PPE as she helps a ballerina from Northern Ballet prepares in a dressing room at Leeds Playhouse, ahead of Northern Ballet's first live performances in more than seven months. (Photo by Danny Lawson/PA Images via Getty Images)
SHEFFIELD, ENGLAND - OCTOBER 22: Busker Tony Black turns his "smiley" face mask upside down to reflect the current mood as he entertains shoppers on October 22, 2020 in Sheffield, England. The county of South Yorkshire, which includes the city of Sheffield will move to Tier 3 'Very High' Covid-19 alert on Saturday. (Photo by Christopher Furlong/Getty Images)
A woman with an umbrella walking past street art in Camden, London. Weather warnings have been issued as Storm Barbara is expected to bring gale force winds and heavy showers to southern parts of the UK.
A lone punt on the River Cam in Cambridge. Weather warnings have been issued as Storm Barbara is expected to bring gale force winds and heavy showers to southern parts of the UK.
Lamp installations in London's UK's Chinatown, to celebrate the new Netflix film Over The Moon, released this Friday. Picture date: Wednesday October 21, 2020. Photo credit should read: Matt Crossick/Empics
SHEFFIELD, ENGLAND - OCTOBER 22: A man walks past a Covid-19 testing site on October 22, 2020 in Sheffield, England. The county of South Yorkshire, which includes the city of Sheffield will move to Tier 3 'Very High' Covid-19 alert on Saturday. (Photo by Christopher Furlong/Getty Images)
Britain's Prince William and his wife Kate the Duchess of Cambridge meet pharmacist Joyce Duah as they visit St. Bartholomew's Hospital in London, to mark the launch of the nationwide 'Hold Still' community photography project, Tuesday, Oct. 20, 2020. The Duke and Duchess of Cambridge on Tuesday met a small number of staff from the hospital, including pharmacist and photographer Joyce Duah and the two pharmacy technician colleagues she photographed writing on their PPE as they put it on, in a photograph that was selected to be in the set of 100 images taken during the coronavirus lockdown. (AP Photo/Matt Dunham, Pool)
Ben Cullen Williams art installation, A=V 2020 in London's Covent Garden, commissioned by Covent Garden and executed by MTArt.
Described as Otherworldly, celestial, toxic. The installation explores our relationship to the unknown and interstellar. A landing or possible escape. A portal into another world, reality altered. (Photo by Dave Rushen / SOPA Images/Sipa USA)
People walk past the empty Southern Pavilion cafe on Worthing Pier, West Sussex, on another sunny day as businesses in the UK continue to suffer from the Coronavirus pandemic.
LINCOLN, ENGLAND - OCTOBER 20: Plymouth Argyle's Michael Cooper during the Sky Bet League One match between Lincoln City and Plymouth Argyle at LNER Stadium on October 20, 2020 in Lincoln, England. (Photo by Andrew Vaughan - CameraSport via Getty Images)
Hospitality workers beat their pans to protest in Parliament Square in London, Monday, Oct. 19, 2020. Hospitality workers are demonstrating outside Parliament against tougher coronavirus restrictions and the amount of financial support given by the government to the industry.(AP Photo/Frank Augstein)
A Red Panda lays on branch at Paradise Wildlife Park in Broxbourne, Hertfordshire. (Photo by Dave Rushen / SOPA Images/Sipa USA)
A man wearing a face mask, required on public transport, rides a bus across Westminster Bridge in London, England, on October 19, 2020. (Photo by David Cliff/NurPhoto via Getty Images)
A view of the HS2 (High Speed 2) Rebellion encampment in Euston Square, London as they protest against the destruction of woodland due to the construction of the high speed rail link (Photo by Dave Rushen / SOPA Images/Sipa USA)
RETRANSMITTING CORRECTING THE INFORMATION ABOUT THE PROJECT FUNDING. Conservator Nigel Larkin begins work to dismantle a 40ft juvenile North Atlantic whale skeleton, the largest artefact within the Hull Maritime Museum's collection. (Photo by Danny Lawson/PA Images via Getty Images)
LONDON, UNITED KINGDOM - OCTOBER 19, 2020: Hundreds of hospitality workers take part in a demonstration in Parliament Square against the lack of scientific evidence behind the new coronavirus restrictions imposed by the government, such as the mandatory 10pm curfew, and a lack of sector-specific financial support for businesses in tier 2 areas, on 19 October, 2020 in London, England. Hospitality, which is the UKs third biggest industry and accounts for 10% of the nations employment, has been heavilly impacted by the restrictions with 100,000 jobs lost in the last three months.- PHOTOGRAPH BY Wiktor Szymanowicz / Barcroft Studios / Future Publishing (Photo credit should read Wiktor Szymanowicz/Barcroft Media via Getty Images)
Runners and riders circle at the start for The Follow Plumpton Racecourse On Instagram Novices' Hurdle at Plumpton Racecourse. (Photo by Alan Crowhurst/PA Images via Getty Images)
Covid-19 survivor Geoffrey McKillop. (Photo by Liam McBurney/PA Images via Getty Images)
Staff from Chopstix Noodle Bar hand out food parcels from a WWII tracked vehicle to self-isolating students from Manchester Metropolitan University at Cambridge Halls, part of the All Saints students living accommodation blocks, in Manchester. (Photo by Peter Byrne/PA Images via Getty Images)
A man cycles past anti-lockdown graffiti in Manchester, England, Monday, Oct. 19, 2020 as the row over Greater Manchester region's coronavirus status continues. Britain’s government says discussions about implementing stricter restrictions in Greater Manchester must be completed Monday because the public health threat caused by rising COVID-19 infections is serious and getting worse. (Peter Byrne/PA via AP)
A digital display above a dual carriageway calls on residents to follow coronavirus guidlines in Manchester, northwest England as the country battles a surge in coronavirus cases on October 19, 2020 (Photo by Paul ELLIS / AFP) (Photo by PAUL ELLIS/AFP via Getty Images)
Tottenham's Gareth Bale during the English Premier League soccer match between Tottenham Hotspur and West Ham United at the Tottenham Hotspur Stadium in London, England, Sunday, Oct. 18, 2020. (Neill Hall/Pool via AP)
LONGFIELD, ENGLAND - OCTOBER 18: (L-R) Lee Jackson of Kawasaki - Rapid Fulfillment team and Andrew Irwin of Honda Racing ride during the penultimate round of the Bennetts British Superbike Championship at Brands Hatch on October 18, 2020 in Longfield, England. (Photo by Ker Robertson/Getty Images)
LONDON, ENGLAND - OCTOBER 18: Demonstrators at the candlelight procession to remember victims of SARS and those assaulted by Nigeria Police gather at Trafalgar Square on October 18, 2020 in London, England. They echo the ongoing #EndSARS protest movement against Nigeria's Special Anti-Robbery Squad, whose officers have been accused of indiscriminate arrests, extortion, and extrajudicial killings. Nigeria's President Muhammadu Buhari recently disbanded the force, replacing it with a new division named SWAT (Special Weapons and Tactics), but the makeover has not placated the protesters. (Photo by Joseph Okpako/Getty Images)
BOREHAMWOOD, ENGLAND - OCTOBER 18: Becky Spencer of Tottenham Hotspur during the Barclays FA Women's Super League match between Arsenal Women and Tottenham Hotspur Women at Meadow Park on October 18, 2020 in Borehamwood, England. (Photo by Catherine Ivill/Getty Images)
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Claire Roebuck-Sacks, a customer from Bristol who has used the service during testing, said: "I used Royal Mail's Parcel Collect during the initial roll-out of the service in Bristol.
"The service was really easy to use, and it was a convenient way to send a gift to my aunt, particularly as I have a new baby, so time is precious."
Customers will be able to get their parcels collected every day apart from Sundays.
Pre-paid return packages can be collected for 60p per item.
Returns have become an increasingly important market for the postal system in recent years, as online shoppers want the chance to change the items they bought.
It has spawned a new industry of companies to take charge of the returns process.
Millionaire businessman Lloyd Dorfman has set up Doddle, a company that partners with local shops to simplify returns, but also offers click-and-collect services.
Royal Mail has been forced to rely increasingly on parcels, as letters drop in importance with the advent of email. Since 2004 the number of letters it delivers has halved, even before the pandemic.
This year has been particularly harsh. In the three months to the end of June the company delivered 788 million fewer letters than the same period the year before, down 33%.
The reduction was sped up by Covid-19, but even before the pandemic hit, Royal Mail was expecting a drop of up to 8% in letter volumes during the 12 months to the end of March.
Meanwhile, parcel volumes have increased greatly.
The company has already tried to maximise its presence in the booming parcel market, launching parcel post boxes last year. The first parcel post service was launched in in 1883.