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.
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.