"We will put on a fantastic event in 2019 for the world, for the United Kingdom and for [cycling's governing body] the UCI".
Esther Britten, Head of Major Events at UK Sport, said; "UK Sport is directly investing £3million of National Lottery funding in to the Championships and will also manage the Government's investment to ensure the Championships enhances the UK's reputation as a world leading host".
The changes were announced following a two-day meeting of the UCI Management Committee in Doha, Qatar, where the UCI Road World Championships are now taking place. As well as competitors and the media, Qatar is expecting around 30,000 cycling fans to attend the highly anticipated events, which will be spread across the country.
The week traditionally begins with men's and women's team time-trial, with Under-23 races and individual time-trials held in the week before the main event of the women's and men's road races over the final two days.
The British government is investing 24 million pounds ($29.35 million) in the 2019 event, 15 million pounds ($18.35 million) of which will be used to develop 27 purpose-built cycle-sport facilities across Britain.
The management committee of the UCI, cycling's world governing body, met in Doha on Wednesday during the 2016 Road World Championships.
The proposal was submitted by British Cycling, Welcome to Yorkshire and UK Sport, with the promise of delivering "world class races" in the county.
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Some have not specified a year for staging the event - Yorkshire has - and could therefore still also be successful even if they miss out on 2019.
The Road Worlds usually take place in September, although this year's edition has been delayed until October due to hot conditions in host city Doha.
Around 300 million eyes will be on Yorkshire in 2019 after the county was chosen to host one of the world's biggest cycling events.
Sir Gary Verity, Chief Executive of Welcome to Yorkshire said: "Today marks a moment in history".
Denise Burton-Cole - a World Championships bronze medallist in 1975 and daughter of two-time world champion Beryl Burton OBE - believes this is a momentous day for Yorkshire.
"Mum and I travelled the globe representing Great Britain at the UCI Road World Championships". How marvellous it would have been for us to compete in it in Yorkshire, our home county.