This was the first World Cup vote since 2010, when the rights to host the 2018 and 2022 tournaments were awarded to Russian Federation and Qatar respectively.
The North American countries won with 134 votes, or 67 percent, against an upstart campaign from Morocco, which garnered 65 votes, in the Wednesday morning vote in Moscow. Their lone opponent was Morocco.
At the FIFA Congress in Moscow on Wednesday, FIFA's member associations voted 134 to 65, with one no-vote, in favour of the joint North American bid by Canada, the US and Mexico to host the 2026 World Cup over that of Morocco.
A spokesperson said: "We congratulate the USA, Canada and Mexico on winning the bid to host the 2026 FIFA World Cup".
Canada has not qualified for the World Cup since 1986 - 10 years after the Olympic Stadium was supposed to have a retractable roof.
The Football Association has not hosted the tournament since 1966, having failed in bids for the 1990, 2006 and 2018 tournaments.
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"We will not be flawless but we are looking for uniformity and consistency - but it can not be 100 per cent", said Massimo Busacca, FIFA's head of refereeing.
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The World Cup will kick off in Russian Federation on Thursday and bring the "greatest show on earth" to the Kremlin's doorstep. Spain play their first Group stage match against Portugal on Friday.
Vancouver dropped out of the World Cup bid in March.
A total of 80 games will be played with 60 planned in the United States and 10 each in Canada and Mexico with the final played at MetLife Stadium in New Jersey, home to National Football League teams New York Giants and New York Jets.
Part of the United bid guaranteed all games would be played on natural grass, which means if Commonwealth Stadium is chosen as a final venue, the artificial turf would be replaced for the tournament.
To do so would have invited ridicule when it needed to build or renovate the 14 stadiums it wants to use - a task FIFA's technical report said "cannot be overstated".
"Our Canadian kids have got a big opportunity and I think that 2026 makes sure that many of them that might have left our shores to play for other countries will stay".
There is also a chance to send an eighth team via an inter-continental playoff.
England, like Morocco, knows the feeling of falling short in the bid to host the World Cup. We congratulate all of those who worked tirelessly to bring the World Cup back to North America and thank the countries that voted for the United Bid, and for their belief in our vision for the future of the sport in our region. North America will host the six-team playoff tournament in November 2025 to decide the last two places in the 48-team lineup.