Football Association (FA) chairman David Bernstein and general secretary Alex Horne voted in favour of the motion.
Horne said: "It is a hugely important day. It is a cause we have had on our agenda for a number of years."
Hawk-Eye was tested at Southampton's St Mary's Stadium in May and a FIFA spokesman said today:
"We would like to place on record our sincere thanks to the Football Association for their willingness to support the live match tests, a critical part of Test Phase 2 for Goal-line technology."