Over 5,000 Usdaw members voted in two ballots, with 90% of workers accepting the pay offer.
Usdaw recommended support for the new deal of 5.5% backdated to July and a further 0.5% from the end of February next year.
The news comes after Usdaw members voted in favour of industrial action earlier this month, after rejecting a 4% pay rise that was a “real terms pay cut” due to inflation.
The new deal, supported by Usdaw, involves drivers and warehouse workers at nine Tesco distribution centres in Daventry Clothing, Goole, Hinckley, Lichfield, Livingston, Magor (both trunk and main sites), Peterborough and Southampton.
“Having secured by negotiation this improved offer, following the threat of strike action, we are pleased that our members have overwhelmingly supported it,” Usdaw national officer Joanne McGuinness said.
“Retail distribution drivers and warehouse staff are key workers who delivered essential services throughout the pandemic. They deserve this pay rise and it is through our members’ strength and solidarity that we’ve been able to achieve it.”