The technology will be used at the Club World Cup in Tokyo in December, the Confederation Cup in 2013 and also the World Cup in 2014.
The decision by the International Football Association Board (IFAB) -- custodians of the game's laws -- followed a vote at the Zurich headquarters of FIFA, the international association of football federations.
It means footballing authorites around the world can introduce the technology into their competitions, using either the Hawk-Eye or GoalRef systems that have been undergoing tests.
The development comes after FIFA president Sepp Blatter lent his weight to calls for the technology to be introduced after Ukraine was denied an apparent goal against England in the recent Euro 2012 championships, losing 1-0.
"After last night's match (GLT) is no longer an alternative, but a necessity," Blatter Tweeted.
Replays showed that Marko Devic's shot in the 62nd minute had crossed the goal line before being cleared by England defender John Terry.
Fans have called for years for the football world to embrace technology which would eliminate human error, citing its use in other sports including tennis and cricket.
But opponents to GLT included UEFA president Michel Platini, who said he preferred the system of five match officials, implemented for the first time at the Ukrainian championships and also agreed on by IFAB at Zurich.
Prior to the IFAB vote on GLT, even Platini stated that he expected it to get the go-ahead.
Individual associations may yet decide whether to use the technology in their competitions. That means UEFA could still decide not to implement the system.