During the Voyager 1 encounter with Jupiter a number of discrete signals were identified in the wideband plasma wave data with characteristics similar to whistlers generated by lightning. In this paper we show that the calculated whistler-mode travel times from Jupiter to the spacecraft are in good agreement with the measured dispersion characteristics, thereby confirming that the signals are caused by lightning on Jupiter and substantiating the Voyager 1 photographic evidence for lightning on Jupiter. A quantitative estimate of the north-south thickness of the Io plasma torus is also obtained from the measured whistler dispersion.