The decision will see the Championships take place in Britain for the fourth time, following Liverpool in 1922, Leicester in 1970 and Goodwood in 1982.

The proposal was submitted by British Cycling, Welcome to Yorkshire and UK Sport, with the promise of delivering "world class races" in the county.

Welcome to Yorkshire chief executive Sir Gary Verity, who led the successful bid for the county to stage the Tour de France Grand Depart in 2014, spearheaded the effort with British Cycling claiming it would be the biggest edition in the event's history.

A package of investment across Britain was pledged to develop cycling and inspire the nation to get on bikes.

The decision was made by the UCI at this year's edition of the Championships in Doha, with Yorkshire believed to have seen off competition from Canada, Colombia, Germany and Italy.

Mont-Sainte-Anne in Canada was also confirmed as the host of the 2019 UCI Mountain Bike and Masters Mountain Bike World Championships.

Heusden-Zolder in Belgium and Houston in the United States were also awarded the rights to 2019 and 2020 UCI BMX World Championships respectively.

The 2020 UCI Track Cycling World Championships were also confirmed to be taking place in Berlin.

"We are delighted to be able to reveal the names of so many new hosts from such a wide range of countries around the world and we look forward to working closely with the successful cities and regions in the coming months and years as we build towards each of these UCI World Championships," said Brian Cookson, UCI President.

"We were especially impressed by the strength of interest in hosting our flagship events, as demonstrated by the sheer number and calibre of the bids we received.

"The UCI is committed to expanding the reach of cycling worldwide and ensuring the sport continues to grow in both established and emerging markets."

In total, 11 countries were awarded hosting rights across seven cycling disciplines up to 2020.

Italy were awarded three events, with Val di Sole and Maniago due to stage the Mountain Bike Four-cross World Championships and Para-cycling Road World Championships in 2017 and 2018 respectively.

Auronzo will then stage the Mountain Bike Marathon World Championships in 2018, while the Belgian city Liège will play host to the Indoor Cycling World Championships in the same year.

The 2019 Para-cycling Road World Championships are scheduled to take place in Emmen, with another Belgium city, Oostende, hosting the following year.

The Polish city of Poznan was granted the 2019 Gran Fondo World Championships, while Turkey will host a UCI World Championship for the first time in 2020 when they stage the mountain bike marathon event.

It was also announced by the UCI that they will stage the Junior Track Cycling World Championships every two years at the World Cycling Centre velodrome in Aigle in Switzerland.

The decision to place the Championships at the UCI headquarters was taken to help ensure competing nations would be supported through the state-of-the-art resources and facilities, the governing body claimed.