The North American bid beat competition from Morocco, which was hoping to become just the second African country to host soccer's biggest global tournament.
The United Bid was endorsed by David Beckham and there will be 16 host cities across North America with the U.S. holding ten of the 16, while Mexico and Canada will have three each.
"Football today is the only victor".
Of the 211 Fifa member nations, 200 cast a vote at the 68th Fifa Congress in Moscow on Wednesday, with the winning bid needing a majority of 104.
The last time Federation Internationale de Football Association voted on World Cup hosting rights was in 2010 with the decision resting with the old executive committee and they chose Russia to host the 2018 tournament and Qatar for 2022.
While the US and Mexico have become World Cup mainstays throughout the tournament's past, this is particularly pertinent for Canada - who has appeared in just one World Cup (1986).
Canada staged the Women's World Cup in 2015.
Fox, Fox Sports and Telemundo Deportes have US broadcast rights to this year's tournament - for which the USA national team failed to qualify - and also for 2026.
The VAR will be overseen remotely from a control room in Moscow throughout the tournament and, in a bid to control sweat levels, FIFA is insisting they forgo civilian suits and ties in favour of football shirts and shorts.
The 82-year-old's attendance at the World Cup could put him in close proximity to his successor, Gianni Infantino, who has sought to draw a line under past scandals.
Two Miami residents - newly-elected U.S. Soccer President Carlos Cordeiro and Donna Shalala, a U.S. Soccer board member - were deeply involved in the bid process.
"The main goal of the joint activity is to minimize violations by fans in the regions where the matches will take place", Russian Interior Minister Vladimir Kolokoltsev said at the police cooperation center's opening Tuesday.
Morocco, on the other hand, promised a "European" World Cup in Africa, playing on the north African nation's proximity to Europe.
Toronto, along with Montreal and Edmonton, could host three or four games in the tournament's knockout round. The U.S. hosted in 1994.
"If we get to host in 2026, that's the realization of a lifelong dream, to get back to the World Cup, and to give kids that opportunity to be inspired like I was in 1986".
"We believe strongly that this decision will be made on its merits", Cordeiro, the bid leader, told reporters.