The joint bid defeated Morocco's application with 134 of the 200 votes cast at the FIFA Congress in Moscow on Wednesday.
This is the first World Cup since 2006 to be hosted in Europe.
The World Cup is due to feature 48 teams and will take place across three countries for the first time.
Morocco was counting on the strong support of African countries but it seems the ten nations defied the continental solidarity and voted otherwise.
But which cities and stadiums will host games at the tournament is still being determined.
Fifa's president, Gianni Infantino, looked opportunistically quick to immediately put himself forward for re-election next year, and he was followed by United States president Donald Trump with a self-congratulatory tweet.
Chief among those is US President Donald Trump, whose "America First" approach might score well with his electoral base but may have made the United bid's task harder than it could ever have imagined.
England, like Morocco, knows the feeling of falling short in the bid to host the World Cup.
The United bid also offered Federation Internationale de Football Association the prospect of higher profits: $11 billion compared to Morocco's $5 billion. The US, however, hosted the World Cup on its own merit in 1994, while Mexico have twice before organised the tournament, in 1970 and in 1986.
Morocco FA president Fouzi Lekjaa said: "I would like to reaffirm the determination of my country, Morocco, to continue to work for football, to work for the youth and also to realise some day our dream to host the World Cup in Morocco".
"Both bids were of a very high quality and we welcome the fact that the bidding process was both open and transparent".