For a wee spat in 1610, during the Polish Muscovite Wars,, Poland-Lithuania managed to install the Polish king's son as the Tsar of Russia. Unfortunately for them, the Polish king got greedy and demanded that he be the new tsar, rather than his son, with the end result that Poland was forced to accept a lesser deal of some territorial gains.

For that matter, Poland in the Polish-Soviet War in 1919-1921 managed to crush an overstretched Soviet army, and were in a position to severely cripple the Soviet position (which already had its hands full dealing with White Russians), resulting in significant territorial gains for Poland (they could potentially have taken even more land, but to do so was politically unpopular).

Granted in both cases Poland subsequently was annexed by German + Russian cooperation, so I don't know if that fits your definition of "successful invasion."

The 1605 invasion of Russia by the Polish-Lithuanian Commonwealth had Polish forces successfully capturing Moscow, though at the time Polish-Lithuanian territory extended as far east as present-day eastern Belarus.

I'm not too familiar with the Polish-Muscovite War, but from what I can tell the war was ultimately deemed a failure as the Tsardom of Russia was not amalgamated into the Polish-Lithuanian Commonwealth and continued as an independent territory.

Well during Operation Paukenschlag German troops advanced into Russia and Russia eventually singed the treaty of Brest-Litowsk and surrendered. Not sure if this counts though.