Work is done whenever the given two conditions are satisfied:
(i) A force acts on the body.
(ii) There is a displacement of the body by the application of force in or opposite to the direction of force.
If the direction of force is perpendicular to displacement, then the work done is zero.
When a satellite moves around the Earth, then the direction of force of gravity on the satellite is perpendicular to its displacement. Hence, the work done on the satellite by the Earth is zero.