In a move being labelled as an 'important symbolic gesture', the Pope met with three men and three women from Ireland, Britain and Germany, who attended a private Mass with the Pope before speaking with him individually.
It is the first time since being elected as head of the Catholic Church almost 16 months ago that the Pope has personally met with victims of sexual abuse by priests.
"Today the heart of the Church looks into the eyes of Jesus in these boys and girls and wants to weep," Pope Francis said in his homily at the Mass. "I humbly ask for forgiveness."
"I beg for your forgiveness, too, for the sin of omission on the part of the Church leaders who didn't respond adequately to reports of abuse," he continued. "This led to ever greater suffering…and endangered other minors who were at risk."
The CEO of the Catholic Church's Truth Justice and Healing Council, Francis Sullivan, said the meeting sent a very clear message that the Pope placed the issues of clerical sexual abuse at the very top of his agenda.
"The Pope has publically recognised the hurt and suffering people feel over the inaction of Church leaders when confronted with the reality of sex abuse," Mr Sullivan said.
"The comments...are the strongest we have heard from the Vatican and they reinforce the position taken by the Catholic Church here in Australia as we go through the Royal Commission."
"[He] now needs to back up his comments with real action and start the long and difficult process of reform which, in a 2000 year-old institution like the Catholic Church, can be difficult, slow and complicated."
The Pope's homily at the Mass for survivors can be read here