The SkyPath cycling and walking attachment to the Auckland Harbour Bridge has been granted resource consent.
Auckland Mayor Len Brown says the decision is "a real game changer" for the city.
"This exciting project is another part of the physical uniting of Auckland," Mr Brown said.
"Besides being of enormous benefit to cyclists, it's a fabulous opportunity for Aucklanders and visitors to the city to walk across and have great views of our spectacular harbour.".
The decision of the planning commissioners follow a hearing last month on the $33.5 million scheme.
Conceived as a community initiative, SkyPath will be financed by private sector funding as well as by the Auckland Council, where users pay an entrance fee to fund its construction and operation.
The covered pathway is planned to be a minimum of 4m wide, extending to 6m at five viewing platforms and is expected users will have to pay a toll of between $2 and $4 each way.
SkyPath will connect to the Westhaven walking and cycling promenade, where pedestrians, joggers and cyclists can get to the city via Wynyard Quarter.
Mr Brown said the next step to enable the project to proceed will be a report to be completed by Council staff on the proposed commercial arrangements and recommendations on how to proceed from there.
The backers of the scheme say the SkyPath will be made of a series of composite material U-beams that clip onto the underside of the eastern edge of the bridge, with a composite foam core deck.
"Horizontal composite rods are spaced out across the enclosure to allow viewing and maintaining safety," an Auckland Council official said.
Generation Zero, a group working to cut carbon pollution, said it was "elated" that the project has been given the go ahead.
"SkyPath will be an iconic addition to the city, as well as a key transport link," said group spokesman Sudhvir Singh
The application received 11,586 submissions with 11,413 in support, five neutral and 168 against.
There is a 15 working day appeal period.