Commons Speaker Michael Martin welcomed Mr Timpson to his new job
Conservative MPs cheered loudly and waved their order papers as by-election victor Edward Timpson arrived at the House of Commons to take up his seat.
The 34-year-old barrister won the Crewe & Nantwich seat from Labour last month by a margin of almost 8,000 votes.
Mr Cameron insisted there must be no "triumphalism" over his MP's arrival - the Tories' first by-election gain from Labour in three decades.
The contest was triggered by the death of Labour veteran Gwyneth Dunwoody.
Mr Timpson won the 22 May by-election by a margin of 7,860 on a massive swing of 17.6% to the Conservatives - a result which revived questions over Gordon Brown's future.
'No complacency'
He arrived at the Commons flanked by shadow chancellor George Osborne and Tory MP Angela Browning to roars of approval from the Conservative benches.
Earlier, Mr Cameron said: "It is the first time in 26 years that the Conservative Party has won a by-election seat from the other side.
"It's great that there's a new Conservative MP here at Westminster.
"But there will be no complacency or triumphalism from me because I know we've still got a huge amount to do and I know there will be none from Edward either.
"The work is going to start today to make sure he does the very best job for the people of Crewe and Nantwich and make sure he is re-elected at the General Election."
I'm going to spend as much time as I can, not here, but back in the constituency, because that's really where it's going to matter
Edward Timpson Crewe & Nantwich MP
Mr Timpson said it was "a very exciting day, not just for me, but the whole of the Conservative Party in Crewe and Nantwich".
"Most importantly, it's an important day for the people of Crewe and Nantwich that their representative is here ....
"I'm going to spend as much time as I can, not here, but back in the constituency, because that's really where it's going to matter.
"I'm going to work very hard for them and, as I said on the night, I'm not going to let them down."
At the poll, Mr Timpson took 20,539 votes. The Labour candidate, Mrs Dunwoody's daughter Tamsin Dunwoody, was second on 12,679, with Liberal Democrat Elizabeth Shenton third on 6,040.
Mrs Dunwoody, who had held the seat since it was created in 1983, first entered Parliament as MP for Exeter in 1966.
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