The opportunistic maintenance of a k-out-of-n:G system is studied in this paper. In many applications, it spends less cost and time to perform maintenance on several components jointly than on each component separately. Based on this fact, two new (τ, T) opportunistic maintenance models with the consideration of reliability requirements are proposed. In these two models with two decision variables τ ≤ T, only minimal repairs are performed on failed components before time τ, and corrective maintenance of all failed components are combined with preventive maintenance (pm) of all functioning but deteriorated components after τ; if the system survives to time T without perfect maintenance, it will be subject to pm at time T. Considering maintenance time, asymptotic system cost rate and availability are derived. The results obtained generalize and unify some previous research in this area. Application to aircraft engine maintenance is presented.