Chairman Max Mason used his casting vote to swing the decision in favour of moving forward with the plan.
"Let's start the ball rolling."
He said the decision could easily go the other way when the recommendation came before the full council for ratification on July 19, and said all parties needed to talk before then and come up with solutions.
The group of non-profit neighbours said the decision was disappointing, though it was not a final call.
It was good that councillors had a better understanding of the issues with the plan, and that the university might be more motivated to talk to them.
In the meeting Tauranga Marina Society manager Greg Prescott said a proposal was being developed for a 250-berth extension of the marina, growing it south into nearby council reserve, Marine Park.
He suggested the university's research facility could go at the southern end of the extension, an option some councillors wanted explored.
University senior deputy vice-chancellor Alister Jones said he was happy with the committee's decision, and that it gave the university a degree of certainty to continue making plans.
He said the university was willing to work with the neighbours, and had already made changes in response to feedback, including removing undergraduate student laboratories from the plan.
"We want to work with the community to get better outcomes."
He said there were time pressures at play, including an uncertain lease on the site of the current Coastal Marine Field Station in Cross Rd - an unfit for purpose facility - and a possible competing facility in Dunedin.
How they voted
Agree in principal to recommend supporting leasing the Sulphur Point site to the University of Waikato.
For: Max Mason, Kelvin Clout, Steve Morris, Leanne Brown
Against: John Robson, Mayor Greg Brownless, Larry Baldock, Rick Curach.