It's usually caused by the slight delays introduced in the video processing in the source component (Sky or disc player), amplifier and TV cumulatively creating a noticeable delay of the picture, esepcially as the TV will be upscaling the picture from Sky and those older DVDs to 1080p (or the BD player will be doing so in the case of the DVDs), whereas the sound suffers no such delay.
If the problem were just on Sky, then yes, using the Sky box delay to back up the sound a bit to match the picture should get things sorted, but you also have the problem on DVDs, so it's probably best to try tackling these problems with the Yamaha amp's lipsync functions, which you can find explained on p46 of the Yamaha manual.