The International Football Association Board has unanimously approved goal-line technology, enabling the Premier League to use the Hawk-Eye and GoalRef systems.
At least six of the eight votes were required to ratify a law change, and the system will be introduced for the Club World Cup in December, of which Chelsea will participate.
It will also be used at the 2013 Confederations Cup and the 2014 World Cup in Brazil and FIFA will immediately amend the laws of the game to include the use of goal-line technology.
Football Association chairman David Bernstein and general secretary Alex Horne both travelled to Zurich to cast their vote.
The desire to introduce goal-line technology was reignited after England's 1-0 win against Ukraine at Euro 2012, when the joint hosts were denied an equaliser.
Infamous "ghost goal" decisions:
Marko Devic's shot looped goalwards via a deflection off of Joe Hart clearly crossed the line, yet the additional official beside the goal nor the linesman awarded the joint hosts a goal as the scurrying John Terry cleared the ball.
Fifa president Sepp Blatter tweeted the next day that aiding officials was a "necessity".