Centaurus A is the closest active radio galaxy. Its proximity enables unique studies of the processes in relativistic jets and near supermassive black holes. Centaurus A has been intensively studied in many wavelength bands and has also been discussed as a possible site for UHECR acceleration. Here, we report the discovery of weak very-high energy gamma-ray emission from Centaurus A with the H.E.S.S. Cherenkov telescope array. The discovery of Centaurus A, together with the detection of M 87, establishes radio galaxies - i.e. AGNs with only weak relativistic beaming - as sources of VHE gamma-rays. The implications of these results on the emission site and on the different models available will be discussed.