This study aims to determine the difference in students’ concept understanding improvement between learning using the Discovery Learning model assisted by digital picture storybooks and conventional learning, as well as to determine the effect of the model on students’ concept understanding in Natural and Social Sciences (IPAS). This research employed a quantitative approach with a quasi-experimental method and a Nonequivalent Control Group Design. The sample consisted of 80 third-grade students of SDN Sindang Mulya 04, with 40 students in the experimental class and 40 students in the control class, selected through purposive sampling. Data were collected using essay tests administered as pretests and posttests. The instrument was tested for validity, reliability, difficulty level, and discrimination power. Data analysis included descriptive statistics, the Shapiro–Wilk normality test, N-Gain analysis, and the Mann–Whitney U test. The results showed that the experimental class obtained a higher posttest mean of 89.93, compared with 82.25 in the control class. The experimental class achieved an N-Gain of 0.7311, categorized as high, while the control class achieved 0.5603, categorized as moderate. The Mann–Whitney U test obtained a significance value of 0.004 < 0.05. Therefore, Discovery Learning assisted by digital picture storybooks significantly improves students’ concept understanding