Let $left( H,Rright) $ be a finite dimensional semisimple and cosemisimple quasi-triangular Hopf algebra over a field $k$. In this paper, we give the structure of irreducible objects of the Yetter-Drinfeld module category ${} {}_{H}^{H}mathcal{YD}.$ Let $H_{R}$ be the Majids transmuted braided group of $left( H,Rright) ,$ we show that $H_{R}$ is cosemisimple. As a coalgebra, let $H_{R}=D_{1}opluscdotsoplus D_{r}$ be the sum of minimal $H$-adjoint-stable subcoalgebras. For each $i$ $left( 1leq ileq rright) $, we choose a minimal left coideal $W_{i}$ of $D_{i}$, and we can define the $R$-adjoint-stable algebra $N_{W_{i}}$ of $W_{i}$. Using Ostriks theorem on characterizing module categories over monoidal categories, we prove that $Vin{}_{H}^{H}mathcal{YD}$ is irreducible if and only if there exists an $i$ $left( 1leq ileq rright) $ and an irreducible right $N_{W_{i}}$-module $U_{i}$, such that $Vcong U_{i}otimes_{N_{W_{i}}}left( Hotimes W_{i}right) $. Our structure theorem generalizes the results of Dijkgraaf-Pasquier-Roche and Gould on Yetter-Drinfeld modules over finite group algebras. If $k$ is an algebraically closed field of characteristic, we stress that the $R$-adjoint-stable algebra $N_{W_{i}}$ is an algebra over which the dimension of each irreducible right module divides its dimension.
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